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	A Novel Design of Movable Gripper for Non-enclosable Truss Climbing
	Wing Kwong Chung; Jiangbo Li; Yongquan Chen; Yangsheng Xu
	2011
会议名称	2011 IEEE International Conference on Robotics and Automation
会议地点	Shanghai, China
英文摘要	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.
收录类别	EI
语种	英语
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/3423]
专题	深圳先进技术研究院_集成所
作者单位	2011
推荐引用方式 GB/T 7714	Wing Kwong Chung,Jiangbo Li,Yongquan Chen,et al. A Novel Design of Movable Gripper for Non-enclosable Truss Climbing[C]. 见:2011 IEEE International Conference on Robotics and Automation. Shanghai, China.

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