Thermodynamical modelling and control of an adhesion system for a climbing robot

被引：0
|
作者：
Wettacht, J [1 ]
Hillenbrandt, C [1 ]
Berns, K [1 ]
机构：
[1] Univ Kaiserslautern, D-67663 Kaiserslautern, Germany
来源：
2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4 | 2005年
关键词：
climbing robot; modelling of adhesion system; simulation; control;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper describes the thermodynamical model of a vacuum system for a climbing robot. Based on this model a simulation system is described, which is used to evaluate the influence of leakage situations on the adhesion system and to test control approaches. As a validation of the simulation parameters and the adhesion strategy a test platform was constructed and tested on concrete walls.
引用
收藏
页码：2727 / 2732
页数：6
相关论文
共 50 条
  • [1] FINITE ELEMENT MODELLING OF THE ADHESION SYSTEM OF A VORTEX BASED CLIMBING ROBOT
    Bonaccorso, Filippo
    D'Urso, Salvatore
    Longo, Domenico
    Muscato, Giovanni
    NATURE INSPIRED MOBILE ROBOTICS, 2013, : 701 - 708
  • [2] MODELLING OF AN INNOVATIVE ACTUATOR FOR CLIMBING ROBOT ADHESION
    Bonaccorso, Filippo
    Longo, Domenico
    Muscato, Giovanni
    MOBILE ROBOTICS-SOLUTIONS AND CHALLENGES, 2010, : 891 - 898
  • [3] On the Optimal Adhesion Control of a Vortex Climbing Robot
    Andreas Papadimitriou
    George Andrikopoulos
    George Nikolakopoulos
    Journal of Intelligent & Robotic Systems, 2021, 102
  • [4] On the Optimal Adhesion Control of a Vortex Climbing Robot
    Papadimitriou, Andreas
    Andrikopoulos, George
    Nikolakopoulos, George
    JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2021, 102 (03)
  • [5] Adhesion control for the Alicia3 climbing robot
    Longo, D
    Muscato, G
    CLIMBING AND WALKING ROBOTS, 2005, : 1005 - 1015
  • [6] Design and control of a climbing robot based on hot melt adhesion
    Osswald, Marc
    Iida, Fumiya
    ROBOTICS AND AUTONOMOUS SYSTEMS, 2013, 61 (06) : 616 - 625
  • [7] On Model-based Adhesion Control of a Vortex Climbing Robot
    Andrikopoulos, George
    Papadimitriou, Andreas
    Brusell, Angelica
    Nikolakopoulos, George
    2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2019, : 1460 - 1465
  • [8] Climbing Robot for Ferromagnetic Surfaces with Dynamic Adjustment of the Adhesion System
    Silva, Manuel F.
    Barbosa, Ramiro S.
    Oliveira, Antonio L. C.
    JOURNAL OF ROBOTICS, 2012, 2012
  • [9] DEVELOPMENT OF A SEALING SYSTEM FOR A CLIMBING ROBOT WITH NEGATIVE PRESSURE ADHESION
    Hillenbrand, C.
    Schmidt, D.
    Berns, K.
    ADVANCES IN CLIMBING AND WALKING ROBOTS, PROCEEDINGS, 2007, : 115 - 124
  • [10] Control system design and realization of wet adhesion wall-climbing bio-robot
    He B.
    Zhou Y.
    Li M.
    Qin H.
    Tongji Daxue Xuebao/Journal of Tongji University, 2010, 38 (12): : 1813 - 1817+1827
12345