Orion-Ii: A Miniature Climbing Robot With Bilayer Compliant Tape For Autonomous Intelligent Surveillance And Reconnaissance
2018 15TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV)(2018)
摘要
This paper presents the design and fabrication of ORION-II for autonomous Intelligence, Surveillance and Reconnaissance (ISR). ORION-II is a miniature climbing robot equipped with all the necessary electronic components to achieve ISR tasks. It consists of a robot chassis (tail) carrying the electronics and two DC motors each driving a wheel-leg (wheg) with four "flaps" equipped with bilayer compliant tapes. Two types of tapes are used for attachment of ORION-II: bilayer PDMS/foam and bilayer micro-suction/foam. The two types of tapes are tested on different climbing surfaces, and the climbing performance is reported. ORION-II could climb rougher surfaces when using the PDMS/foam tape, and perform internal climbing transitions when using the micro-suction/foam tape. The total weight of ORION-II is 153.18 g as compared with 71.5 g of our previous version ORION-I.
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关键词
ORION-II,miniature climbing robot,bilayer compliant tape,PDMS/foam tape,microsuction/foam tape,autonomous intelligent surveillance and reconnaissance,climbing surface,climbing performance,DC motors,robot chassis,mass 153.18 g,mass 71.5 g
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