Mobile Robots' Adaptive Contact Devices with Miniature Ejectors

Abstract

For an effective use of the mobile robotic platforms, moving in extreme conditions on unpredictable surfaces of different quality, there is a trend for designing of the robots with pneumatic devices with adaptation to such types of surfaces. The manipulators and mobile robots usually employ the vacuum grippers with an ejector system. However, they should have a smaller and more efficient design for application in the miniature mobile robots. The process of movement of robots over the vertical surfaces demands a reliable contact with those surfaces. Selection of the ejector's operation mode is important. In this paper the authors consider a discrete-step way of the robots' movement and techniques of a reliable contact with the surfaces by means of an ejector. The authors also analyze the basic schemes of the adaptive pneumatic grippers of the wall climbing robots under extreme conditions with unknown properties and quality of the surfaces of motion, and present the results of their experimental investigations. Experimental studies were aimed at identifying the properties of adaptation of the robots to the microporous structures, automatic shut-off valves with bellows and feedback. The calculated ratios for assessment of the pressures in cavities in the vacuum area, as well as a constructive scheme of the adaptive pneumatic gripping devices for the mobile robots, were demonstrated. The results are aimed to ensure maneuverability of the robots moving in extreme conditions on the vertical surfaces and ceilings in the unknown environments.