MST-G: Micro Suction Tape Gripper Climbing Robot with Active Detachment Capability
Effective adaptive grasping capability is regarded as crucial for climbing robots. However, many dry adhesion legged climbing robots are primarily focused on mobility and load capacity to perform various climbing tasks, often overlooking their operational grasping abilities. Furthermore, flexible gr...
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| Format: | Article |
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MDPI AG
2024-12-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/24/23/7790 |
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| author | Jichun Xiao Jiawei Nie Lina Hao Zhi Li |
| author_facet | Jichun Xiao Jiawei Nie Lina Hao Zhi Li |
| author_sort | Jichun Xiao |
| collection | DOAJ |
| description | Effective adaptive grasping capability is regarded as crucial for climbing robots. However, many dry adhesion legged climbing robots are primarily focused on mobility and load capacity to perform various climbing tasks, often overlooking their operational grasping abilities. Furthermore, flexible grippers designed for adaptive grasping are typically not capable of supporting autonomous climbing or perching motions; they must be rigidly integrated with legged climbing robots, which results in increased weight and reduced load capacity. To address this challenge, a novel dry adhesion climbing robot, MST-G, is proposed, featuring autonomous climbing, perching, and flexible adaptive grasping capabilities. During operation, MST-G is integrated with a legged climbing robot to perform tasks, but can autonomously climb when no task is present, thereby reducing load and ensuring stable motion. Additionally, a robust controller based on prescribed performance is introduced and tested on MST-G, which limits the joint tracking error to a prescribed safety limit, ensuring that motion trajectories can be executed safely and reliably. |
| format | Article |
| id | doaj-art-63473c8b9f2f44fa922088923b4b7b6a |
| institution | Kabale University |
| issn | 1424-8220 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj-art-63473c8b9f2f44fa922088923b4b7b6a2024-12-13T16:32:46ZengMDPI AGSensors1424-82202024-12-012423779010.3390/s24237790MST-G: Micro Suction Tape Gripper Climbing Robot with Active Detachment CapabilityJichun Xiao0Jiawei Nie1Lina Hao2Zhi Li3State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang 110819, ChinaState Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang 110819, ChinaSchool of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, ChinaState Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang 110819, ChinaEffective adaptive grasping capability is regarded as crucial for climbing robots. However, many dry adhesion legged climbing robots are primarily focused on mobility and load capacity to perform various climbing tasks, often overlooking their operational grasping abilities. Furthermore, flexible grippers designed for adaptive grasping are typically not capable of supporting autonomous climbing or perching motions; they must be rigidly integrated with legged climbing robots, which results in increased weight and reduced load capacity. To address this challenge, a novel dry adhesion climbing robot, MST-G, is proposed, featuring autonomous climbing, perching, and flexible adaptive grasping capabilities. During operation, MST-G is integrated with a legged climbing robot to perform tasks, but can autonomously climb when no task is present, thereby reducing load and ensuring stable motion. Additionally, a robust controller based on prescribed performance is introduced and tested on MST-G, which limits the joint tracking error to a prescribed safety limit, ensuring that motion trajectories can be executed safely and reliably.https://www.mdpi.com/1424-8220/24/23/7790climbing robotmicro suction tapeactive detachmentadaptive grasping |
| spellingShingle | Jichun Xiao Jiawei Nie Lina Hao Zhi Li MST-G: Micro Suction Tape Gripper Climbing Robot with Active Detachment Capability Sensors climbing robot micro suction tape active detachment adaptive grasping |
| title | MST-G: Micro Suction Tape Gripper Climbing Robot with Active Detachment Capability |
| title_full | MST-G: Micro Suction Tape Gripper Climbing Robot with Active Detachment Capability |
| title_fullStr | MST-G: Micro Suction Tape Gripper Climbing Robot with Active Detachment Capability |
| title_full_unstemmed | MST-G: Micro Suction Tape Gripper Climbing Robot with Active Detachment Capability |
| title_short | MST-G: Micro Suction Tape Gripper Climbing Robot with Active Detachment Capability |
| title_sort | mst g micro suction tape gripper climbing robot with active detachment capability |
| topic | climbing robot micro suction tape active detachment adaptive grasping |
| url | https://www.mdpi.com/1424-8220/24/23/7790 |
| work_keys_str_mv | AT jichunxiao mstgmicrosuctiontapegripperclimbingrobotwithactivedetachmentcapability AT jiaweinie mstgmicrosuctiontapegripperclimbingrobotwithactivedetachmentcapability AT linahao mstgmicrosuctiontapegripperclimbingrobotwithactivedetachmentcapability AT zhili mstgmicrosuctiontapegripperclimbingrobotwithactivedetachmentcapability |