A WALL-CLIMBING ROBOT USING PROPULSIVE FORCE OF PROPELLER - MECHANISMAND CONTROL-SYSTEM IN A STRONG WIND

Authors
NISHI A MIYAGI H
Citation
A. Nishi et H. Miyagi, A WALL-CLIMBING ROBOT USING PROPULSIVE FORCE OF PROPELLER - MECHANISMAND CONTROL-SYSTEM IN A STRONG WIND, JSME international journal. Series C, dynamics, control, robotics, design and manufacturing, 37(1), 1994, pp. 172-178
Citations number
6
Categorie Soggetti
Engineering, Mechanical
Journal title
JSME international journal. Series C, dynamics, control, robotics, design and manufacturing → ACNP
ISSN journal
13408062
Volume
37
Issue
1
Year of publication
1994
Pages
172 - 178
Database
ISI
SICI code
1340-8062(1994)37:1<172:AWRUPF>2.0.ZU;2-V
Abstract
In the previous report, the mechanism of a wall-inspection robot which is capable. of moving in a weak wind on a vertical wall was investiga ted. For emergency use of a wall-climbing robot, such as in rescue, an d fire-fighting, the robot must be able to move in strong and turbulen t winds at any time. Therefore, the control system for large wind load is important. A combined control system consisting of a thrust force controller, a frictional force augmentor and a damper is used, and its performance is estimated by a computer simulation technique. The safe ty of the robot is ascertained for an actual turbulent and strong wind gust.