@inproceedings{5628f9ce1eb14d74928fb6312f0482da,
title = "Development of a multi-body wall climbing robot with tracked wheel mechanism",
abstract = "This paper aims to develop a multi-body mobile robot which has the capabilities to climb walls and make wall-to-wall transitions. The developed robot consists of three connected bodies, two links, and ten tracked wheels actuated by nine motors. Six vacuum suction pads are installed on each tracked wheel and one additional suction pad is attached to the 2nd body for the steering motion of the entire robot. While each tracked wheel rotates on the vertical plane, the suction pads are automatically activated by the sequential opening of the mechanical valves in pneumatic cylinders, thus enabling the continuous locomotive motion. The kinematics of the proposed mechanism is analytically studied and the capabilities of the robot are experimentally verified in the case of vertical wall climbing and wall-to-wall transition between 90 degree walls. The overall size of the robot is 1000mm x 1600mm x 300 mm with a mass of about 70kg. The maximum climbing speed and carrying payload are 3m/min and 10 kg respectively.",
keywords = "Climbing robot, Multi-body, Suction pad, Tracked wheel",
author = "Hwang Kim and Kunchan Seo and Kyuhee Lee and Jongwon Kim and Kim, \{Hong Seok\}",
note = "Publisher Copyright: {\textcopyright} 2010 by World Scientific Publishing Co. Pte. Ltd.; 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010 ; Conference date: 31-08-2010 Through 03-09-2010",
year = "2010",
doi = "10.1142/9789814329927\_0055",
language = "English",
isbn = "9789814327978",
series = "Emerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010",
publisher = "World Scientific",
pages = "439--446",
editor = "Hideo Fujimoto and Tokhi, \{Mohammad O.\} and Hiromi Mochiyama and Virk, \{Gurvinder S.\}",
booktitle = "Emerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010",
}