A Survey of Climbing Robots 英文.pptx

A Survey of Climbing Robots: Locomotion and AdhesionBaeksuk Chu1, Kyungmo Jung1, Chang-Soo Han2 and Daehie Hong11 Division of Mechanical Engineering, Korea University2 Department of Mechanical Engineering, Hanyang UniversityPresenter：Yanlu DongVCNS labMechanical Engineering Department，Ajou UniversityOutlineIntroductionLocomotive Mechanism of Climbing RobotsAdhesion Mechanism of Climbing RobotsApplications of Climbing RobotsConclusion1. IntroductionWhat is climbing robots?Climbing robots are robotic systems to move over 2D or complex 3D environments.Requirements 1.Lightness of weight 2.High mobility 3.A reliable grasping mechanismMajor issues in the designing Locomotive mechanism Adhesion mechanism2. Locomotive Mechanism of Climbing Robots Locomotive Mechanism of Climbing Robots2. Locomotive Mechanism of Climbing Robots2.1 Legged Locomotion Climbing robots that employ legged locomotion have from two up to eight legs that are equipped with vacuum suction cups, grasping grippers, or magnetic devices at the end of the feet.Advantages:They can move over rough surfaces and cracks, have good obstacle avoidance.A greater number of legs increases the capacity in terms of the payload and safety.Disadvantages:Low speeds of motion due to discontinuous movement.2. Locomotive Mechanism of Climbing Robots2.2 Wheel-Driven LocomotionWheel-driven climbing robots climb vertical planes and ceilings by combining wheels for translation and rotation and vacuum pumps or Magnets for surface attachment.Advantage Continuous movement , speed can be improved.DisadvantageSuch robots cannothandle large obstacles and their payload capacity is small.2. Locomotive Mechanism of Climbing Robots2.3 Tracked LocomotionTracked climbing robots have a similarity to wheel-driven climbing robots in that both move with a rotational mechanism.AdvantageTracked climbing robots are betterable to avoid obstacles and adhere to the surface.Large payload capacity. DisadvantageOnly 2-DOF movements2. Locomotive Mech