Title :
BIT Climber: A centrifugal impeller-based wall climbing robot
Author :
Li, Jun ; Gao, Xueshan ; Fan, Ningjun ; Li, Kejie ; Jiang, Zhihong
Author_Institution :
Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China
Abstract :
This paper introduces a centrifugal impeller-based wall climbing robot "BIT Climber". First, by statics and dynamics analyses, mechanical parameter optimization directions for general wall climbing robots are presented. A hydromechanical model suitable for all centrifugal impeller-based wall climbing robots\´ suction system is built, which is important for suction device design. Afterwards the climber\´s basic configurations of mechanical and electronical structure are described. Finally, the experimental results are given.
Keywords :
impellers; mobile robots; optimisation; robot dynamics; robot kinematics; BIT climber; centrifugal impeller based wall climbing robot; dynamics analyses; electronical structure; hydromechanical model; mechanical parameter optimization; mechanical structure; statics analyses; suction device design; Climbing robots; Wall climbing robot; hydromechanical model; vacuum adhesion;
Conference_Titel :
Mechatronics and Automation, 2009. ICMA 2009. International Conference on
Conference_Location :
Changchun
Print_ISBN :
978-1-4244-2692-8
Electronic_ISBN :
978-1-4244-2693-5
DOI :
10.1109/ICMA.2009.5244799
