R-Track: Separable Modular Climbing Robot Design for Wall-to-Wall Transition
- Title
- R-Track: Separable Modular Climbing Robot Design for Wall-to-Wall Transition
- Author
- 서태원
- Keywords
- Cellular and modular robots; cooperating robots; mechanism design
- Issue Date
- 2021-04
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Citation
- IEEE Robotics and Automation Letters, v. 6, NO. 2, article no. 9162455, Page. 1036-1042
- 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.
- URI
- https://ieeexplore.ieee.org/document/9162455https://repository.hanyang.ac.kr/handle/20.500.11754/177770
- ISSN
- 2377-3766
- DOI
- 10.1109/LRA.2020.3015170
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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