TITLE

Effective Pneumatic Scheme and Control Strategy of a Climbing Robot for Class Wall Cleaning on High-rise Buildings

AUTHOR(S)
Houxiang Zhang; Jianwei Zhang; Guanghua Zong
PUB. DATE
June 2006
SOURCE
International Journal of Advanced Robotic Systems;Jun2006, Vol. 3 Issue 2, p183
SOURCE TYPE
Academic Journal
DOC. TYPE
Article
ABSTRACT
A new kind of pneumatic climbing robot is presented to meet the requirements of glass-wall cleaning for high-rise buildings, which is totally actuated by pneumatic cylinders and attached to the glass wall with vacuum suckers. Using the pneumatic actuators the climbing robot can be made lightweight and dexterous. At the same time the movement driven by pneumatic actuators has the characteristic of passive compliance. In order to solve the problems of high speed movement for the Y cylinder and precise position control of the X cylinder, the applied pneumatic schemes of X and Y cylinders are employed to drive the high-speed on-off solenoid valves and an ordinary valve to adjust the air-flow and pressure to the cylinders. Furthermore a method of segment and variable bang-bang controller is proposed to implement the accurate control of the position servo system for the X cylinder during the sideways movement. Testing results show that the novel approach can effectively improve the control quality. This cleaning robot can meet the requirements of realization.
ACCESSION #
22439609

 

Related Articles

  • Air Muscle Actuated Low Cost Humanoid Hand. Scarfe, Peter; Lindsay, Euan // International Journal of Advanced Robotic Systems;Jun2006, Vol. 3 Issue 2, p139 

    The control of humanoid robot hands has historically been expensive due to the cost of precision actuators. This paper presents the design and implementation of a low-cost air muscle actuated humanoid hand developed at Curtin University of Technology. This hand offers 10 individually...

  • A Semi-passive Planar Manipulandum for Upper-Extremity Rehabilitation. Chang, Chih-Kang; Washabaugh, Edward P.; Gwozdziowski, Andrew; Remy, C. David; Krishnan, Chandramouli // Annals of Biomedical Engineering;Jul2018, Vol. 46 Issue 7, p1047 

    Robotic rehabilitation is a promising approach to treat individuals with neurological or orthopedic disorders. However, despite significant advancements in the field of rehabilitation robotics, this technology has found limited traction in clinical practice. A key reason for this issue is that...

  • A compliant control method for robust trot motion of hydraulic actuated quadruped robot. Chen, Teng; Rong, Xuewen; Li, Yibin; Ding, Chao; Chai, Hui; Zhou, Lelai // International Journal of Advanced Robotic Systems;Nov/Dec2018, Vol. 15 Issue 6, p1 

    A motion control approach is proposed for hydraulic actuated quadruped robots, aiming to achieve active compliance and robust motion control. The approach is designed with a structure of three layers. Servo valve-controlled asymmetric hydraulic cylinder model is established to obtain the...

  • Seat Adjustment Design of an Intelligent Robotic Wheelchair Based on the Stewart Platform. Po Er Hsu; Yeh Liang Hsu; Jun Ming Lu; Cheng-Hao Chang // International Journal of Advanced Robotic Systems;Mar2013, Vol. 10 Issue 3, p1 

    A wheelchair user makes direct contact with the wheelchair seat, which serves as the interface between the user and the wheelchair, for much of any given day. Seat adjustment design is of crucial importance in providing proper seating posture and comfort. This paper presents a multiple-DOF...

  • Kinematic Design of a Radius-Variable Gripper with 1-D.O.F. used in High-voltage Hot-line Cleaning Robot. Yi Gu; Xinhua Weng; Ruqing Yang; Tao Song // International Journal of Advanced Robotic Systems;Mar2008, Vol. 5 Issue 1, p107 

    This paper presents the design of a novel radius-variable-gripper (RVG) for use as end-effector of high-voltage hot-line cleaning robot (HVCR). A eight-bar linkage mechanism is proposed to obtain the aim of 1-dof acutuation. According to the shape of insulators, the dimension design and...

  • Environmental-Interaction Robotic Systems: Compliant Actuation Approach. Ghorbani, Reza; Qiong Wu // International Journal of Advanced Robotic Systems;Mar2007, Vol. 4 Issue 1, p81 

    Many successful designs of compliant actuators have been recently proposed. However, the challenge of providing passive and active motion in one actuator has remained. In this paper, a novel mechanism for changing the stiffness of the series elastic actuator over a wide range is presented. An...

  • Singularity Avoidance of 5R Planar Parallel Manipulator by Kinematic Redundancy. Zarkandi, Soheil; Esmaili, Mohammad Reza // International Review of Mechanical Engineering;Nov2010, Vol. 4 Issue 7, p878 

    The 5R planar parallel manipulator is a valuable manipulator for positioning a point on a plane. The manipulator has simple structure, base-fixed actuators, high accuracy and relatively large workspace. However, it is known to have singular loci within its workspace affecting its use. In this...

  • Design of a Robot End-Effector Grabbing Mechanism Based on a Bionic Snake Mouth. Fu Zhuang; Zhou Hangfei; Liu Zijuan; Fei Jian; Yan Weixin; Zhao Yanzheng // International Journal of Advanced Robotic Systems;Mar2013, Vol. 10 Issue 3, p1 

    Inspired by the bite and swallowing function of a snake's mouth, a robot end-effector grabbing mechanism was designed. The grabbing movement is realized by the 'bite' function of the bionic snake mouth actuator, and the 'swallowing' function insures a continuous grip on the object. To implement...

  • OPTIMIZING FOOT CENTERS OF PRESSURE THROUGH FORCE DISTRIBUTION IN A HUMANOID ROBOT. WENSING, PATRICK M.; BIN HAMMAM, GHASSAN; DARIUSH, BEHZAD; ORIN, DAVID E. // International Journal of Humanoid Robotics;Sep2013, Vol. 10 Issue 3, p-1 

    The force distribution problem (FDP) in robotics requires the determination of multiple contact forces to match a desired net contact wrench. For the double support case encountered in humanoids, this problem is underspecified, and provides the opportunity to optimize desired foot centers of...

Share

Read the Article

Courtesy of THE LIBRARY OF VIRGINIA

Sorry, but this item is not currently available from your library.

Try another library?
Sign out of this library

Other Topics