높은 유효하중 능력과 다양한 벽면전환 능력을 가지는 다관절 등반로봇 개발

초록

This paper presents a new climbing robotic mechanism for high-payload climbing and wall-to-wall transitioning. The proposed robotic platform consists of three magnetic tread-wheel modules that are connected by links with passive and active compliant joints. The front compliant joints are passive type with a torsion spring, and the rear compliant joints are active type with torque-controlled motors. A torque-controlled tail is attached at the end of the third module. The robot can perform two internal and two external transitions against gravity and every possible transition in the side surface driving direction. The robot can carry 10 kg payloads on vertical surfaces and on a ceiling.

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