A method for optimal design of an inchworm climbing robot

Pagano, D; Liu, D; Waldron, K

A method for optimal design of an inchworm climbing robot

Pagano, D Liu, D

Waldron, K

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Publication Type:: Conference Proceeding
Citation:: 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest, 2012, pp. 1293 - 1298
Issue Date:: 2012-12-01

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Field	Value	Language
dc.contributor.author	Pagano, D	en_US
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582	en_US
dc.contributor.author	Waldron, K https://orcid.org/0000-0002-7910-4907	en_US
dc.date.issued	2012-12-01	en_US
dc.identifier.citation	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest, 2012, pp. 1293 - 1298	en_US
dc.identifier.isbn	9781467321273	en_US
dc.identifier.uri	http://hdl.handle.net/10453/23117
dc.description.abstract	Many ferromagnetic structures require regular inspection and maintenance to ensure their longevity, structural integrity and aesthetics. These operations are often very hazardous to workers, as they are normally performed at height or in confined spaces, and can expose workers to hazardous materials such as lead based paints and vehicle fumes. An inchworm climbing robot has been proposed as a solution that would improve the quality of the inspection procedure and the occupational health and safety for the maintenance personnel while reducing setup times and costs. However, a number of challenges in designing such an inchworm robot arise from the environmental, mobility and safety factors. This paper describes these challenges for given design applications and presents a method to optimise the design to address the challenges. Analyses of the results attest to the feasibility of the solution. © 2012 IEEE.	en_US
dc.relation	http://purl.org/au-research/grants/arc/LP100200750
dc.relation.ispartof	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest	en_US
dc.relation.isbasedon	10.1109/ROBIO.2012.6491148	en_US
dc.title	A method for optimal design of an inchworm climbing robot	en_US
dc.type	Conference Proceeding
utslib.for	091303 Autonomous Vehicles	en_US
dc.location.activity	Guangzhou, China	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
pubs.organisational-group	/University of Technology Sydney/Students
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US

Abstract:

Many ferromagnetic structures require regular inspection and maintenance to ensure their longevity, structural integrity and aesthetics. These operations are often very hazardous to workers, as they are normally performed at height or in confined spaces, and can expose workers to hazardous materials such as lead based paints and vehicle fumes. An inchworm climbing robot has been proposed as a solution that would improve the quality of the inspection procedure and the occupational health and safety for the maintenance personnel while reducing setup times and costs. However, a number of challenges in designing such an inchworm robot arise from the environmental, mobility and safety factors. This paper describes these challenges for given design applications and presents a method to optimise the design to address the challenges. Analyses of the results attest to the feasibility of the solution. © 2012 IEEE.

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http://hdl.handle.net/10453/23117