Design, Fabrication and Testing of a Miniature Wall Climbing Robot Using Smart Robotic Feet
نویسندگان
چکیده
A miniature wall climbing robot equipped with two smart robotic feet (SRF) is developed and tested. It is controlled autonomously by a PIC16F876 microcontroller and a 6 volt power supply onboard. Each SRF contains a suction cup with a diameter of 40 mm, a vacuum pump, a pressure sensor, and a micro valve. The robot’s motion is driven by two servo motors which are electronically linked and synchronized. In addition to climbing vertical walls, it is designed to transition between a floor and a wall, as well as change direction while walking on a surface. Currently, the robot can walk on surfaces ranging from horizontal to an uphill angle of 70 degrees.
منابع مشابه
Toward Micro Wall-Climbing Robots Using Biomimetic Fibrillar Adhesives
Climbing is a challenging task for autonomous mobile robots primarily due to requirements for agile locomotion, and high maneuverability as well as robust and efficient attachment and detachment. A novel miniature wall-climbing robot is proposed. The robot is adapted for the wall-climbing task by taking advantage of down scaling and its low design. Challenges encountered during robot miniaturiz...
متن کاملDesign, implementation, and evaluation of an under-actuated miniature biped climbing robot
The design, implementation, and evaluation of a miniature biped robot for urban reconnaissance are presented. Design specifications for mobility, space requirement, weight, sensing, and control are defined. A revolute hip joint is selected based on its enhanced mobility and capability to function in reasonably confined spaces. Small size dictates minimal weight, which is achieved by an under ac...
متن کاملDesign, fabrication and testing of a smart robotic foot
8 A miniature smart robotic foot (SRF), equipped with an integrated vacuum pump, a suction cup, a pressure sensor and a micro-valve, was designed, fabricated and tested. A mock-up robot equipped with the SRF was used to study the load-carrying potential of the system. The SRF weighs 35 g and it can, with a 40 mm suction cup, support weights in the range of 1.2–3.5 kg under various test conditio...
متن کاملDesign and Fabrication of Ultralight High-Voltage Power Circuits for Flapping-Wing Robotic Insects
Flapping-wing robotic insects are small, highly maneuverable flying robots inspired by biologicalinsects and useful for a wide range of tasks, including exploration, environmental monitoring, searchand rescue, and surveillance. Recently, robotic insects driven by piezoelectric actuators have achievedthe important goal of taking off with external power; however, fully autonomous operation requir...
متن کاملSpoke-Wheel Based Wall-climbing Robot
Biomimetics and biorobotics form a thriving field of modern scientific research endeavors. The development of wall-climbing robots boasts a wide array of potential real-world applications. With this technology still in progression, a simple and fundamentally sound robot has been created to serve as a test bed and proof-of-concept robot. The developed robot is inspired by the concept of Mini-Whe...
متن کامل