DocumentCode
3354517
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
fYear
2009
fDate
9-12 Aug. 2009
Firstpage
4605
Lastpage
4609
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/ICMA.2009.5244799
Filename
5244799
Link To Document