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Design and Development of A Wall Climbing Robot and Its Control System
Design and Development of A Wall Climbing Robot and Its Control System
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Design and development of a wall climbing Robot and its control system
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Fig. 2. Design of Gakobot [2]
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Fig. 5. The Train Wall Bot (a) and some of its components (b). (~ (b)
Fig. 6. (a) Leg is attested with the wall, (b) Body is attested
The size of the body part is, 23 em in length, 15 em in with the navigating surface.
width and 1.5 em in thickness where the motor, gears The Train Wall Bot has two legs which moves simulta-
and sensors are mounted on. The two vacuum pads are neously based on the only one motor which is mounted
attested at the bottom part of the body. Two legs (each on the Robot Body. Based on this structure it is ensured
23cm * 1.5cm * 1.5cm) have four vacuum pads attested that the Robot has one degree of freedom. The specifi-
at the bottom. The leg pair has one degree of freedom cation of the robot is given in the table II.
because of four bar linkage mechanism. The H shape
coupling parts ensures the simultaneous rotation of both Table II Specification of Train Wall Bot.
legs. Robot specification
Mass (1.81 + 0.68) = 2.49 kg
A. MATERIAL SELECTION
Length 23 em
To ensure light weight and strong structure, aluminum
is used to construct the body and leg of the Robot. For Height 15 em
climbing and sticking to the wall, pneumatic system is Width 15 em
used. Air compressor (30 bar or 340 psi) system is cho- Turning radius 10cm
sen to ensure the pneumatic system to work. Tube con- Step length 10 em
nectors are used to connect the vacuum pads with the air
Vacuum pads area (per foot) Pi*r2=Pi*42=50.24cm2
compressor which is a mechanical device that increases
the pressure by reducing the volume of air. Three sole- Force 25.48N, 9.572N
noid valves are used to control the air flow of the pneu- Torque 2.58 N.m, 0.96 N.m
matic system. The solenoid valves works as ON and Pressure (per foot) 2.548*10-4 m", 0.957*10-4 m 2
OFF switch which is control by the PIC 16F877A. This
Speed 0.625m/s = 5.95 rpm
PIC is chosen as the main controller of the whole sys-
tem. The PIC also controls the rotational speed and di-
rection of the DC motor having torque output approx- C. GAIT DESIGN OF TRAIN WALL BOT
imately more than 500Nm. This DC motor generates the
rotational movement (forward and backward) of the
Robot. To transfer forces to the shafts, two gears are
used with the motor. The shafts help to rotate the two
legs simultaneously. The figure 5 (b) shows the DC
motor, gears and shafts of the Robot. The interlocking
of the teeth in a pair of meshing gears means that their
circumferences necessarily move at the same rate of
linear motion (meters per second). The smaller gear
makes more revolutions in a given period of time; it
turns faster. Here it is consider as, 30rpm = lm/s,
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pads of the body become attested with the surface (ON with fan for faster thermal release and pluggable con-
mode) and vacuum pads on the legs are become free nector for more user friendly design.
(OFF mode). Hence, legs rotate forward. Following this
technique the robot moves onward. For backward V. SENSORS AND SWITCHES
movement the robot will follow the same technique but
Infrared Sensor (SN GP2YOA21 Sharp IR) is used to
in reverse order. Figure 6 shows the steps of forward
detect obstacles. The mechanism is simple where a
movement ofthe robot.
pulse from IR sensor is emitted by the emitter. The light
is travel out and in the case of no object, the light is
IV. DESIGN OF CONTROLLER
never reflected and the reading shows no object in front
Figure 8 shows the close loop diagram of the control of the robot. If the light reflects and returns to the de-
system. The controller is activated when the input tector, it creates a triangle with the point of reflection,
switch is on and it gives instruction to the motor to ro- the emitter and the detector. On this moment the reading
tate in a certain speed to move the robot forward. The can be detected as digital 10 that indicates the presence
controller also gives the instruction to the system to of obstacles. The detection range of the sensor is about
continue the climbing mechanism by controlling the 10 to 80 em and average current consumption is 30mA.
solenoid valves of the pneumatic device. If the IR dis- Figure 8 (a) shows the triangular detection technique of
tance sensor senses an obstacle, it will give feedback to IR Sensor.
utt-I
PIC and the PIC will control the motor to move in re-
verse order for the backward movement of the robot.
(a) (b)
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moving plane and the valve for the body part must be VII. CONCLUSION
off which gives the capability to move the body. This In terms of mechanical design, the motion is limited to
action turns off the limit switch of the body and the climb only in the horizontal or vertical plane by its rota-
switch is on again when the body touches the surface tional stepping technique while it is capable to move
after completing first step. Now the solenoid valve for over a certain height of obstacles. The design of the
the body must be on and the valve for the leg must be robot is very simple, cost wise, user friendly and it can
off so that the robot can attach with wall and have the move faster than other existing climbing robots. The
capacity to move its legs to keep its motion continuous. designed robot has one degree of freedom, so it is not
While the robot began to move its legs the limit switch possible for the agent to move on zigzag path which can
attested with leg becomes off and it becomes on again at be considered as one of the limitations of the system.
the moment of touching the wall for second time. In this Multi directional movement and plane transition capa-
position the robot comes to its initial state again from bility can be achieved by changing the design of the
which it began to start moving. Here the limit switches mobile agent by increasing the degree of freedom. The
are considered as sensors that send signals to the con- response of the robot to its environment can be in-
troller when it touches the surface of the wall. To main- creased by adding more sensors. In addition, the vision
tain this moving process a truth table (shown in the fig- sensor can be installed which will be a great enhance-
ment of this climbing robot. The implementation of
ure 10) is formed and based on this truth table the main
wireless communication module (radio frequency or
algorithm is designed and implemented to the device.
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Infrared) will enhance the device one step forward for
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