R-Track: Separable Modular Climbing Robot Design for Wall-to-Wall Transition
- Authors
- Park, Changmin; Bae, Jangho; Ryu, Sijun; Lee, Jiseok; Seo, Taewon
- Issue Date
- Apr-2021
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Keywords
- Cellular and modular robots; cooperating robots; mechanism design
- Citation
- IEEE Robotics and Automation Letters, v.6, no.2, pp.1036 - 1042
- Indexed
- SCIE
SCOPUS
- Journal Title
- IEEE Robotics and Automation Letters
- Volume
- 6
- Number
- 2
- Start Page
- 1036
- End Page
- 1042
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/1493
- DOI
- 10.1109/LRA.2020.3015170
- ISSN
- 2377-3766
- Abstract
- This letter presents the development of a reconfigurable wall-climbing robot (WCR) called R-track. R-Track is designed for operations inside metal structures. It adheres to the metal surface with magnetic tracks. With a modular design which each module of R-Track can be connected or disconnected without an additional actuator, R-Track can perform various wall-to-wall transitions. In particular, external wall transitions that have been difficult for previous WCRs can be achieved by R-track with a cooperation between modules. The statics of R-Track during wall transitions was analyzed to identify and verify an appropriate reconfiguration strategy. Experiments on wall-to-wall transitions were conducted to demonstrate the performance of R-Track. The results indicate that R-Track successfully performed all kinds of perpendicular wall-to-wall transitions.
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