A WALL-CLIMBING ROBOT USING PROPULSIVE FORCE OF A PROPELLER - MECHANISM AND CONTROL IN A MILD WIND

被引：23

作者：

NISHI, A

MIYAGI, H

机构：

[1] Faculty of Engineering, Miyazaki University, Miyazaki 889-21

来源：

JSME INTERNATIONAL JOURNAL SERIES C-DYNAMICS CONTROL ROBOTICS DESIGN AND MANUFACTURING | 1993年 / 36卷 / 03期

关键词：

ROBOTICS; MECHATRONICS; CONTROL DEVICE; WALL-CLIMBING ROBOT; VERTICAL WALL; THRUST FORCE; PROPELLER;

D O I：

10.1299/jsmec1993.36.361

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

Use of a wall-climbing robot for such purposes as rescue, wall inspection and fire-fighting in high-rise buildings has been anticipated for a long time. Three different types of models have been developed in our laboratory. The present one can move on a wall using the thrust force of propellers, which are inclined slightly toward the wall to produce the frictional force between the wheels and wall surface. It has a long and lightweight body for climbing an irregular wall surface, and its mechanism and the control system by which it can move in calm or mild wind conditions are discussed briefly.

引用

页码：361 / 367

页数：7