Design, Development and Experimental Evaluation of a Thrust Vectoring Vortex Climbing Robot

Document identifier: oai:DiVA.org:ltu-77806
Access full text here:10.1109/ROBIO.2018.8665069
Keyword: Engineering and Technology, Electrical Engineering, Electronic Engineering, Information Engineering, Control Engineering, Teknik och teknologier, Elektroteknik och elektronik, Reglerteknik
Publication year: 2018
Relevant Sustainable Development Goals (SDGs):
SDG 9 Industry, innovation and infrastructure
The SDG label(s) above have been assigned by OSDG.ai

Abstract:

In this article, a novel Thrust Vectoring Vortex Climbing Robot (TVV-CR) will be presented from a design development and experimental evaluation perspective. To the goal of providing an efficient and robust climbing robot design, with minimized weight and high permissible payload, a novel Electric Ducted Fan (EDF)-based actuation design is proposed for achieving simultaneous locomotion and adhesion via a controllable tilt mechanism, while excluding the need for active motorized wheels. Towards the development of the TVV-CR, the design and development stages will be presented in detail, while proposing a P-PI-based cascaded control structure for evaluating its overall properties. The efficiency of the suggested scheme will be evaluated by multiple experimental results indicating the robot's ability to follow randomly generated paths, while maintaining its adhesion under different surface inclinations.

Authors

Andreas Papadimitriou

Luleå tekniska universitet; Signaler och system
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George Andrikopoulos

Luleå tekniska universitet; Signaler och system
Other publications >>

George Nikolakopoulos

Luleå tekniska universitet; Signaler och system
Other publications >>

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