Abstract
Since the past few decades, many mechanisms were developed for wall-climbing robots. Robotic systems having omnidirectional surface traversing ability independent of its inclination require complex morphology transformation for a floor to wall transition as well as perfect adhesion on the vertical surface. This paper depicts the development of the mechanical design of the robot producing upthrust due to coaxial antiparallel propeller mechanism to grip the vertical surfaces. To provide the omnidirectional capability, 2-DoF gimbal mechanism is used. Bi-propeller coaxial thruster situated inside the gimbal mechanism is controlled resembling its localization on the wall and also it helps the robot to adhere to the wall. The novel design of this robot is newly aimed and its motion is mathematically modeled.
Research work of this project is funded and supported by IvLabs VNIT, Nagpur, India.
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Acknowledgements
The research work of this project is supported and funded by IvLabs, Robotics lab of Visvesvaraya National Institute of Technology, Nagpur, India.
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Phalak, Y., Deotalu, R., Onkar, Agrawal, S. (2021). Mechanical Design of Omnidirectional Spherical Wall Traversing Robot. In: Kalamkar, V., Monkova, K. (eds) Advances in Mechanical Engineering. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-15-3639-7_3
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DOI: https://doi.org/10.1007/978-981-15-3639-7_3
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