A Fault Tree Analysis (FTA) Focusing the Design Attributes and Decision Tree Analysis (DTA) Comparing Payload: Weight for Various Adhesive Mechanism of Wall Climbing Robot
Keywords:
Wall Climbing Robot (WCR), Fault tree Analysis(FTA), Decision Tree Analysis(DTA), payload(p), weight(w)Abstract
Wall Climbing Robot(WCR) has become the need of the hour to accomplish many risky task in industries for various application. There are many research outcomes for the better design of this WCR, but still there is scope for improvement in design. In this paper, a fault tree analysis focusing the design attribute is presented for a Wall climbing robot and a comparison on its two key design element like payload(p) and weight(w) is done across various types of adhesive mechanism like bio inspired, electro adhesive, rope and rail and chemical adhesive type using the Decision Tree Analysis. With rapid growth in technology, the scope for research in this area has widen up to enhance the performance of the bot. To propose an innovative design, it is essential to understand the existing design and its value (ie p: w), such that the repetition of design can be avoided and this also helps the researcher to know how to arrive an optimal design. This paper helps a beginner to understand in how to choose an appropriate adhesive mechanism for wall climbing robot when payload and self-weight of WCR are considered as important parameter for the application
Downloads
References
T. Lam, Y. Xu,2011, A flexible tree climbing robot: Treebot-design and implementation, in: International Conference on Intelligent Robots and Systems, pp. 5849–5854.
Quansheng jiang and Fengyu Xu ,Grasping claws of Bionic climbing robot for rough wall surface:Modelling and Analysis –journal of applied science
He, B.; Wang, Z.; Li, M.,2014, Wet Adhesion Inspired Bionic Climbing Robot. IEEE/ASME Trans. Mechatron. 2014, 19, 312–320. [CrossRef]
Bartsch, S.; Birnschein, T.; Rommermann, M.; Hilljegerdes, J.; Kuhn, D.,2012, Development of the Six-Legged Walking and Climbing Robot SpaceClimber. JField Robot. 2012, 29, 506–532. [CrossRef]
Fengyu Xu, Xingsong Wang and Guoping Jiang ,Design and Analysis of a Wall-Climbing Robot Based on a Mechanism Utilizing Hook-Like Claws.
Fengyu Xu, Jingjin Shen, JinLong Hu, and GuoPing Jiang,A rough concrete wall-climbing robot based on grasping claws: Mechanical design, analysis and laboratory experiments.
Aihong Ji, Zhihui Zhao, Poramate Manoonpong, Wei Wang, Guangming Chen, Zhendong Dai1A Bio-inspired Climbing Robot with Flexible Pads and Claws- -Journal of Bionic Engineering
Carlo, M.; Metin, S, 2006. A biomimetic climbing robot based on the gecko. J. Bion. Eng., 3, 115–125.
Menon, C.; Sitti, M.,2005 Biologically inspired adhesion based surface climbing robots. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation, ICRA 2005, Barcelona, Spain, 18–22 April 2005;
pp. 2715–2720.
Menon, C.; Murphy, M.; Sitti, M. Gecko,2004,inspired surface climbing robots. In Proceedings of the 2004 IEEE International Conference on Robotics and Biomimetics, ROBIO 2004 ,Shenyang, China, 22–26 August 2004; pp.431–436.
Murphy, M.; Sitti, M.,2005 Geckobot and waalbot: Small-scale wall climbing robots. In Proceedingsof the AIAA 5th Aviation, Technology, Integration, and Operations Conference, Arlington, MA, USA,26–28 .
Aksak, B.; Murphy, M.P.; Sitti, M.,2008,Gecko inspired micro-fibrillar adhesives for wall climbing robots on
micro/nanoscale rough surfaces. In Proceedings of the 2008 IEEE International Conference on Robotics and
Automation, ICRA 2008, Pasadena, CA, USA, 19–23 ; pp. 3058–3063
Murphy, M.P.; Kute, C.; Mengüç, Y.; Sitti, M.,2011, Waalbot II: Adhesion recovery and improved performance of a
climbing robot using fibrillar adhesives. Int. J. Robot. Res. 2011, 30, 118–133
Wile, G.D.; Daltorio, K.A.; Diller, E.D.; Palmer, L.R.; Gorb, S.N.; Ritzmann, R.; Quinn, R.D.,2008, Screenbot:
Walking inverted using distributed inward gripping. In Proceedings of the 2008 IEEE/RSJ International
Conference on Intelligent Robots and Systems, IROS 2008, Nice, France, 22–26; pp. 1513–1518
Daltorio, K.A.; Witushynsky, T.C.; Wile, G.D.; Palmer, L.R.; Malek, A.A.; Ahmad, M.R.; Southard, L.;
Gorb, S.N.; Ritzmann, R.E.; Quinn, R.D.,2008,A body joint improves vertical to horizontal transitions of a
wall-climbing robot. In Proceedings of the 2008 IEEE International Conference on Robotics and Automation,
ICRA 2008, Pasadena, CA, USA, 19–23; pp. 3046–3051
Daltorio, K.A.;Wei, T.E.; Horchler, A.D.; Southard, L.;Wile, G.D.; Quinn, R.D.; Gorb, S.N.; Ritzmann, R.E,2009,
Mini-whegs TM climbs steep surfaces using insect-inspired attachment mechanisms. Int. J. Robot. Res. 2009,28, 285–302
Funatsu, M.; Kawasaki, Y.; Kawasaki, S.; KikuchiI, K,2014,. Development of cm-Scale Wall Climbing Hexapod Robot with Claws. In Proceedings of the 3rd International Conference on Design Engineering andScience—ICDES, Pilsen, Czech Republic; pp. 101–106.
H. X. Zhang, Member, IEEE, J. González-Gómez, S.Y. Chen, Member, IEEE, W. Wang, R. Liu, D. Li,
J. W. Zhang, A Novel Modular Climbing Caterpillar Using Low-frequency Vibrating Passive Suckers
M. Spenko, G. Haynes, J. Saunders, M. Cutkosky, A. Rizzi,D. Koditschek,2008, Biologically inspired climbing with a
hexapedal robot, Journal of Field Robotics 25 (4–5) 223–242
G. Haynes, A. Khripin, G. Lynch, J. Amory, A. Saunders, A. Rizzi, D. Koditschek,2009,Rapid pole climbing with a
quadrupedal robot, in: International Conferenceon Robotics and Automation, ICRA, IEEE 2009, pp. 2767–2772.
P. Birkmeyer, A.G. Gillies, R.S. Fearing,2012, Dynamic climbing of near-vertical smooth surfaces, in:
International Conference on Intelligent Robots and Systems, IROS, IEEE, 2012, pp. 286–292.
https://people.eecs.berkeley.edu/~ronf/PAPERS/paulb-iros12.pdf
A. Sintov, T. Avramovich, A. Shapiro,2011, Design and motion planning of an autonomous climbingrobot with claws,
Journal of Robotics and Autonomous Systems 59 (11) 1008–1019.
W.R. Provancher, S.I. Jensen-segal, M.A. Fehlberg,2010, ROCR: an energy-efficient dynamic wall-climbing robot,
IEEE/ASME Transactions on Mechatronics 16 (5) (2010) 897–906.
T. Bretl, S. Rock, J. Latombe, B. Kennedy, H. Aghazarian,2004, Free-climbing with a multi-use robot, in: Proceedings of the 9th International Symposium on Experimental Robotics, ISER, Springer, 2004, pp. 1–10
http://robotics.stanford.edu/~latombe/papers/wafr04/paper.pdf
D. Bevly, S. Farritor, S. Dubowsky,2000, Action module planning and its application to an experimental climbing
robot, in: International Conference on Robotics and Automation, ICRA, Vol. 4, IEEE, 2000,
pp. 4009–4014.DOI:10.1109/ROBOT.2000.845356.
A. Nejadfard, H. Moradi, M.N. Ahmadabadi,2011, A multi-robot system for dome inspection and maintenance: concept and stability analysis, in: International Conference on Robotics and Biomimetics, IEEE, Phuket, Thailand, 2011,pp. 853–858.DOI:10.1109/ROBIO.2011.6181394
K. Kotay, D. Rus,1996, Navigating 3D steel web structures with an inchworm robot,in: International Conference on Intelligent Robots and Systems, IROS’96,Vol. 1, IEEE, 1996, pp. 368–375.https://groups.csail.mit.edu/drl/wiki/images/c/cd/fulltext.pdf
M. Abderrahim, C. Balaguer, A. Gimenez, J.M. Pastor, V.M. Padron,1999,Roma: a climbing robot for inspection operations, in: Proceedings of the International Conference on Robotics and Automation, ICRA, Detroit, Michigan, USA, 1999, pp. 2303–2308.DOI:10.1017/S0263574799002258
W.K. Chung, J. Li, Y. Chen, Y. Xu,2011, A novel design of movable gripper for nonenclosable truss climbing, in: Proceedings of the International Conference on Robotics and Automation, ICRA, Shanghai, China, 2011, pp. 519–525.DOI:10.1109/ICRA2011.5979698.
Peter ward,Philip Quin,David Pagano,Chia-Han Yang,Dikai Liu.Ken Waldron,Gamini Dissanayake,Gavin Paul,Philip Brooks,Peter Mann,Waruna Kaluarachchi,Palitha Manamperi,Laurent Matkovic”Climbing robot for stell bridge inspection:design challenges”
Houxiang Zhang, Wei Wang, Juan Gonzalez-Gomez and Jianwei Zhang,”A Bio-Inspired Small-Sized Wall-Climbing Caterpillar Robot https://pdfs.semanticscholar.org/2559/3f5f2828bc05018455c7c3b6679e2870b1ad.pdf
Kun Wang,WeiWang, and Houxiang Zhang,2013,”The Mechanical Properties of a Wall-Climbing Caterpillar Robot: Analysis and Experiment,-International Journal of Advanced Robotic Systems
DOI:10.5772/53493.
W. Shen, J. Gu,2005, Permanent magnetic system design for the wall-climbing robot,in: International Conference on Mechatronics and Automation,Niagara Falls, Canada, no. July, 2005, pp. 2078–2083.DOI:10.1533/abbi.2006.0024.
J. Liu, Z. Tong, J. Fu, D. Wang, Q. Su, J. Zou,2011, A Gecko inspired fluid driven climbing robot, in: Proceedings of the International Conference on Roboticsand Automation, ICRA, Shanghai, China, 2011, pp. 783–788
H. Zhang, W. Wang, J. Zhang, 2009,A novel passive adhesion principle and application for an
inspired climbing caterpillar robot, in:International Conference on Mechatronics, Malaga, Spain.
B. He, Z. Wang, M. Li, K. Wang, R. Shen, et al,2014, “Wet adhesion inspired bionic climbingrobot
,” IEEE/ASME Trans. Mechatron., vol. 19, no. 1, pp. 312-320, doi:10.1109/TMECH.2012.2234473
Kathryn A. Daltorio, Andrew D. Horchler, Stanislav Gorb, Roy E. Ritzmann, and Roger D. Quinn-2005,”A Small Wall-Walking Robot with Compliant, Adhesive Feet”-IEEE/RSJInternationa Conference on Intelligent Robots and Systems”.DOI:10.1109/IROS.2005.1545596.
Gu, G., Zou, J., Zhao, R., Zhao, X., & Zhu, X. (2018). Soft wall-climbing robots. Science Robotics, 3(25), eaat2874.
Rong Liu, Rui Chen, Hua Shen and Rong Zhan-Wall Climbing Robot Using Electrostatic Adhesion Force Generated by Flexible Interdigital Electrodes,International Journal of Advanced Robotic Systems-://doi.org/10.5772/54634
Muhammad Bilal Khalid-https://medium.com/datadriveninvestor/https-medium-com-datadriveninvestor-electrostatic-adhesion-wall-climbing-robots-6be4c9ed772b-
Keng Huat Koha , M. Sreekumar b , S.G. Ponnambalama ,Hybrid electrostatic and elastomeradhesionmechanismfor wall climbing robot,elseiver-//doi.org/10.1016/j.mechatronics.2016.02.001
Keng Huat Koh, Kuppan Chetty RM, Member IEEE, and S. G. Ponnambalam, Modeling and Simulation of Electrostatic Adhesion for Wall Climbing Robot.
Harsha Prahlad,Ron Pelrine,Scott Stanford,John Marlow and Roy Kornbluh ,2008,Electroadhesive Robots-wall climbing robots enabled bya novel,Robust and Electrically controllable adhesion technology.Published in IEEE International Conference 2008-EngineeringComputer Science-10.1109/ROBOT.2008.4543670
https://www.technologyreview.com/2008/05/29/220398/building-a-better-wall-climber/ -MIT technology review
Deepak Sachan ,Avinash Patil,2016,Design of Electrostatic Adhesion Pads for Wall Climbing Robots -International Journal of Application or Innovation in Engineering & Management (IJAIEM)
https://www.ijaiem.org/Volume5Issue4/IJAIEM-2016-04-06-10.pdf
Vahid Sabermand, Shahryar Ghorbanirezaei and Yousef Hojjat ,2019,Testing the application of Free Flapping Foils (FFF) as a method to improve adhesion in an electrostatic wallclimbin robot--JOURNALOFADHESIONSCIENCE AND TECHNOLOGY https://doi.org/10.1080/01694243.2019.1653026
Qiyang Wu, Vishesh Pradeep, and Xinyu Liu,2018, A Paper-Based Wall-Climbing Robot Enabled by Electrostatic Adhesion- International Conference on Soft Robotics (RoboSoft)* -2018 IEEE. 10.1109/ROBOSOFT.2018.8404938
Muhammd Irshad Yehya , Salman Hussain , Ahmad Wasim , Mirza Jahanzaib , and Hassan,Abdalla, A Cost Effective and Light Weight Unipolar Electroadhesion Pad Technology for Adhesion Mechanism of Wall Climbing Robot
G. Cui, K. Liang, J. Guo, H. Li, D. Gu, 2012,Design of a climbing robot based on electrically controllable
adhesion technology, in: Proceedings of the International Conference on Solid State and Materials, ICSSM,
Vol. 22, 2012,pp. 90–95.
Elkmann, N.; Lucke, M.; Krüger, T.; Kunst, D.; Stürze, T.; Hortig, J.,2008, Kinematics, sensors and control of the fully automated facade-cleaning robot SIRIUSc for the Fraunhofer headquarters building, Munich. Ind. Robot Int. J. 2008, 35,224–227.
Bridge, B.; Elkmann, N.; Lucke, M.; Krüger, T.; Kunst, D.; Stürze, T.; Hortig, J,2008, Kinematics, sensors and
control of the fully automated façade-cleaning robot SIRIUSc for the Fraunhofer headquarters building,Munich. Ind. Robot Int. J. 2008, 35, 224–227.
Elkmann, N.; Kunst, D.; Krueger, T.; Lucke, M.; Böhme,T.; Felsch, T.; Stürze, T.,2005, SIRIUSc–Façade cleaningrobot for a high-rise building in munich, Germany. In Climbing and Walking Robots; Springer: Berlin, Germany,2005;pp. 1033–1040
Shunsuke Nansai , Mohan Rajesh Elara, Thein Than Tun ,Prabakaran Veerajagadheswar and Thejus Pathmakumar,
A Novel Nested Reconfigurable Approach for a Glass Façade Cleaning Robot.
Kim, T.; Seo, K.; Kim, J.H.; Kim, H.S,2014,Adaptive impedance control of a cleaning unit for a novel wall-climbing
mobile robotic platform (ROPE RIDE). In Proceedings of the 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Besancon, France, 8–11 July 2014; pp. 994–999.
Qian, Z.Y.; Zhao, Y.Z.; Fu, Z.; Cao, Q.X.,2006,Design and realization of a non-actuated glass-curtain wall-cleaning robot prototype with dual suction cups. Int. J. Adv. Manuf. Technol. 2006, 30, 147–155.
Wang, W.; Tang, B.; Zhang, H.; Zong, G,2010,Robotic cleaning system for glass facade of high-rise airport
control tower. Ind. Robot Int. J. 2010, 37, 469–478. 10.1108/01439911011063290
Zhang, H.; Zhang, J.; Liu, R.; Zong, G,2007,Mechanical design and dynamcis of an autonomous climbing robot for elliptic half-shell cleaning. Int. J. Adv. Robot. Syst. 2007, 4, 437–446. 10.5772/5670
Zhang, H.; Zhang, J.; Liu, R.; Zong, G,2005, Climbing technique of the cleaning robot for a spherical surface.In Proceedings of the 2005 IEEE International Conference on Mechatronics and Automation, Niagara Falls,
NY, Canada, 29 July–1 August 2005; Volume 4, pp. 2061–2066.
Qian, Z.; Zhao, Y.; Fu, Z.;Wang, Y,2006,Fluid model of sliding suction cup of wall–climbing robots. Int. J. Adv.Robot. Syst. 2006, 3, 275–284.
Qian, Z.Y.; Zhao, Y.Z.; Fu, Z,2006,Development of wall-climbing robots with sliding suction cups. In Proceedings
of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 9–15,pp. 3417–3422
Elkmann, N.; Hortig, J.; Fritzsche, M.,2009,Cleaning automation. In Springer Handbook of Automation;
Springer: Berlin, Germany, pp. 1253–1264
T. Akinfiev, M. Armada, S. Nabulsi, 2009,Climbing cleaning robot for verticalsurfaces, Ind. Robot. 36 352–357
Josef Franko,Shengzhi Du,Stephen Kallweit,Enno Duelberg,Heiko Engemann ,Design of multi robot system for wind turbain maintenance- -MDPI.
Akira Matsumura ,Shigeru Sakamoto, Yoshihito Sakai, Atsushi Shirato,PRACTICAL USES OF PAINTING ROBOT
FOR EXTERIOR WALLS OF HIGH - RISE BUILDINGS Masahiro Takeno, Engineer
Technical Development Dept. Taisei Corporation 1-25-1 Nishishinjuku, Shinjuku-ku Tokyo, Japan
S.Rajesh, P.Janarthanan, G.Pradeep Raj, A.Jaichandran, Design and Optimization of High
Rise Building Cleaner ,International Journal of Applied Engineering Research ISSN 0973-4562 Volume 13, Number 9 (2018) pp. 6881-6885 © Research India Publications.
F. Cepolina, M. Moronti, M. Sanguineti, M. Zoppi, R.M. Molfino,2006, Roboclimber versus landslides, IEEE Robotics & Automation Magazine ,23–31.DOI:10.1109/MRA.2006.1598050
T. Schober,2010,CLIBOT—ein seilkletternder roboter zur bauwerksinspektion,Bautechnik 87 (2) (2010) 81–85.doi.org/10.1002/bate.201010008
Elkmann, N.; Felsch, T.; Sack, M.; Saenz, J.; Hortig, J.2002,Innovative service robot systems for facade cleaning of difficult-to-access areas. In Proceedings of the 2002 IEEE/RSJ InternationalConference on Intelligent Robots and Systems, Lausanne,Switzerland, 30 September–4 October 2002; Volume 1, pp. 756–762.DOI:10.1109/IRDS.2002.1041481
T. Seo, M. Sitti,2011,Under-actuated tank-like climbing robot with various transitioning capabilities, in: Proceedings
of the International Conference on Robotics and Automation, ICRA, Shanghai, China, 2011, pp. 777–782.
O. Unver, M. Sitti,2009,A miniature ceiling walking robot with flat tacky elastomeric footpads, in: 2009 IEEE
International Conference on Robotics and Automation, 2009, pp. 2276–2281.
N. Wiltsie, M. Lanzetta, K. Iagnemma,2012, A controllably adhesive climbing robot using magnetorheological fluid,
in: International Conference on Technologies for Practical Robot Applications, TePRA, IEEE, 2012,
pp. 91–96.DOI:10.1109/TePRA.2012.6215660
Liu, J., Xu, L., Chen, S., Xu, H., Cheng, G., & Xu, J. (2021). Development of a bio-inspired wall-climbing robot composed of spine wheels, adhesive belts and eddy suction cup. Robotica, 39(1), 3-22.
Zi, P., Xu, K., Tian, Y., & Ding, X. (2023). A mechanical adhesive gripper inspired by beetle claw for a rock climbing robot. Mechanism and Machine Theory, 181, 105168.
Li, H., Sun, X., Chen, Z., Zhang, L., Wang, H., & Wu, X. (2022). Design of a wheeled wall climbing robot based on the performance of bio-inspired dry adhesive material. Robotica, 40(3), 611-624.
Bian, S., Xu, F., Wei, Y., & Kong, D. (2021). a novel type of wall-climbing robot with a gear transmission system arm and adhere mechanism inspired by Cicada and Gecko. Applied Sciences, 11(9), 4137.
Downloads
Published
How to Cite
Issue
Section
License
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
All papers should be submitted electronically. All submitted manuscripts must be original work that is not under submission at another journal or under consideration for publication in another form, such as a monograph or chapter of a book. Authors of submitted papers are obligated not to submit their paper for publication elsewhere until an editorial decision is rendered on their submission. Further, authors of accepted papers are prohibited from publishing the results in other publications that appear before the paper is published in the Journal unless they receive approval for doing so from the Editor-In-Chief.
IJISAE open access articles are licensed under a Creative Commons Attribution-ShareAlike 4.0 International License. This license lets the audience to give appropriate credit, provide a link to the license, and indicate if changes were made and if they remix, transform, or build upon the material, they must distribute contributions under the same license as the original.
