Title :
Design of a six legged wall-climbing robot
Author :
Guo, Wei ; Zhong, Ming ; Li, Man-Tian ; Li, Yang
Author_Institution :
State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin
Abstract :
A new type of six legged wall-climbing robot with modular joints for the anti-terrorist field is proposed in this paper. It can move quickly and quietly with help of passive joints on its ankle and a silent vacuum generator. Design of the mobile system is first described. Then the analyses of the torque on each joint and the structure design of them, as well as the vacuum producer are presented in detail. Finally, the kinematics model of robot is also established.
Keywords :
legged locomotion; military systems; robot kinematics; terrorism; antiterrorist field; kinematics model; mobile system; modular joints; silent vacuum generator; six legged wall-climbing robot; Chemical industry; Climbing robots; Construction industry; Leg; Legged locomotion; Mobile robots; Service robots; Shipbuilding industry; Terrorism; Vacuum systems; Anti-terrorist; Modular joints; Wall-climbing;
Conference_Titel :
Advanced robotics and Its Social Impacts, 2008. ARSO 2008. IEEE Workshop on
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-2674-4
Electronic_ISBN :
978-1-4244-2675-1
DOI :
10.1109/ARSO.2008.4653597
