A Novel Design of Movable Gripper for Non-enclosable Truss Climbing
In this paper, we present a novel Movable Gripper (MovGrip) which targets on climbing non-enclosable rectangu- lar trusses such as bridges and space stations. It is designed with a transformation mechanism which provides the features of parallel grippers, rotatory grippers, and active wheels. For truss climbing, MovGrip acts as a parallel gripper which allows the change in gripping width according to different size of trusses. Since MovGrip is equipped with active wheels, fast climbing motion can therefore be realized. Moreover, MovGrip can be transformed into a mobile platform which is suitable for the navigation on ground. It weighs only 500 grams with a climbing speed of 3 cm=s. To maintain the climbing stability, we steer the rotation axis of wheels. By this, a directional pulling force (from MovGrip to truss surface) can be distributed from the drive force of wheels which pulls MovGrip towards the truss while climbing. Experimental results show that tilting of MovGrip can be auto-adjusted based on the proposed design. Also, it is shown that the load carrying capability of MovGrip is approximately 1 kg which is 2 times of its weight.
Wing Kwong Chung Jiangbo Li Yongquan Chen Yangsheng Xu
Shenzhen Institute of Advanced Integration Technology,Chinese Academy of Sciences/The Chinese Univer Smartech Institute,Shenzhen,China Department of Mechanical and Autmation Engineering,The Chinese University of Hongkong,Hong Kong Spec
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
519-525
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）