NDLI: A novel design of Movable Gripper for non-enclosable truss climbing

Content Provider	IEEE Xplore Digital Library
Author	Wing Kwong Chung Jiangbo Li Yongquan Chen Yangsheng Xu
Copyright Year	2011
Description	Author affiliation: Shenzhen Institute of Advanced Integration Technology, Chinese Academy of Sciences / The Chinese University of Hongkong, 518067, China (Wing Kwong Chung; Yangsheng Xu) \|\| Smartech Institute, Shenzhen, China (Jiangbo Li) \|\| Department of Mechanical and Autmation Engineering, The Chinese University of Hongkong, China (Yongquan Chen)
Abstract	In this paper, we present a novel Movable Gripper (MovGrip) which targets on climbing non-enclosable rectangular 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.
Starting Page	519
Ending Page	525
File Size	1516439
Page Count	7
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5979698
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Grippers Wheels Force Climbing robots Loading Springs
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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