The Resting Motion of a Climbing Robot Utilizing Manipulator Slackness


The utilization of climbing robots is expected for high places where human entry is difficult or dangerous. Climbing robots undergo continuous movement, leading to stress on joints and servo motors, causing performance degradation and failures due to heat generation. This study aims to address these challenges by utilizing resting motion with slackened manipulators on fence surfaces, which are the climbing targets. Additionally, this research aims to suppress servo motor heat generation by intermit tently resting the servo motors during climbing motion by acquiring servo motor temperatures. During resting motion, the manipulators used for climbing are relaxed without generating torque, and hooks are utilized to grip the fence surface, reducing the load on the servo motors and improving cooling to enhance mobility.

2024 JSME Conference on Robotics and Mechatronics (ROBOMECH2024)