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This paper presents an underactuated modular finger with a pull-in mechanism for a robotic gripper. Most existing robotic grippers do not have an infinite rotating mechanism. However, this movement has the potential for industrial applications such as pulling in and pushing out an object from the plane. Increasing functionality tends to lead to more operational difficulties. Therefore, we have developed...
This paper designs a guide rail for a wall-climbing robot based on passive suction cups. The designed guide rail can guarantee stable climbing of a wall-climbing robot. Firstly, to design the parameters of the guide rail, properties of the utilized passive suction cup are experimentally studied. Then a guide rail is designed to distribute the forces of the attached suction cups. It guarantees that...
In this paper, we present a new in-pipe robot with independent underactuated parallelogram crawler modules, which can automatically overcome inner obstacles in the pipes. The parallelogram crawler modules are adopted to maintain the anterior-posterior symmetry of forward and backward movements, and a simple differential mechanism based on a pair of spur gears is installed to provide underactuated...
This paper presents a design method to determine the output ratio of a differential mechanism, which is installed in an in-pipe robot with three underactuated parallelogram crawler modules. The crawler module can automatically shift its shape to a parallelogram when encountering with obstacles. To clarify the requirements for the mechanism, two outputs of each crawler mechanism (torque of the arms...
This paper presents a wall-climbing robot that uses passive suction cups as the adhering components. Using a single motor, this robot can not only move on a wall but can also autonomously attach and detach suction cups to the wall. Passive suction cups do not consume additional energy to maintain adhesion. Therefore, the proposed robot can perform the wall-climbing motion with relatively low energy...
This paper presents a tracked robot composed of the proposed crawler mechanism, in which a planetary gear reducer is employed as the transmission device and provides two outputs in different forms with only one actuator. When the crawler moves in a rough environment, collision between mechanism and environment inevitably occurs. This under-actuated crawler can absorb the impact energy that should...
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