Mechanical and Empirical Parameter Design on a Multi-wound Differential Pulley Winch for a Wall-Climbing Robot

다국어 초록 (Multilingual Abstract)

This paper proposes a novel multi-wound diff erential pulley winch (MWDPW) component for assisting the ascending/descending operations of a wall climbing robot. The robotic platform enabling rope access in dangerous environments (ROPERIDE) climbs vertical walls using a rope and embedded winch. The original winch installed on the ROPE RIDE was a singlewound winch, which had problems such as rope slip, velocity ripple during descending motion, resulting the bad cleaningperformance and unstable motion on the wall. These problems are mainly due to the concentration of traction force on therope because a small portion of the winch pulley holds the entire weight of the robot. Therefore, we have developed a newwinch, MWDPW, by using multi-wound diff erential traction pulley and pressure rollers to solve the traction force concentrationproblem by distributing the traction force along the entire wrapping angle. Compared to other multi-wound winches, theMWDPW has the special feature of a diff erential gear and pressure roller to distribute the traction force and minimize therope slip. The tension of the MWDPW is analyzed using the basic capstan equation, and empirical results to minimize therope slip are presented by varying design parameters such as the winding method and presence of the pressure rollers. Weexpect the proposed mechanism to improve the safety of a wall-climbing robot for wall-cleaning operations.

참고문헌 (Reference)

1 Ball, N., "U.S. Patent No. 7,261,278"

2 Blanc, M. R., "U.S. Patent No. 7,175,163"

3 Anderson, F., "U.S. Patent No. 4,595,173"

4 McKenna, H. A., "U.S. Patent No. 3,966,170"

5 이청화, "Three-Modular Obstacle-Climbing Robot for Cleaning Windows on Building Exterior Walls" 한국정밀공학회 20 (20): 1371-1380, 2019

6 Baser, O., "Theoretical and experimental determination of capstan drive slip error" 45 (45): 815-827, 2010

7 서태원, "Survey on glass and facade cleaning robots: climbing mechanisms, cleaning methods, and applications" 한국정밀공학회 6 (6): 367-376, 2019

8 Lee, G., "Series of multilinked caterpillar track-type climbing robots" 33 (33): 737-750, 2016

9 Torben, S. R., "Fiber rope deployment system for ultradeepwater installations" 2007

10 Jung, J. H., "Effect of bending rigidity on the capstan equation" 74 (74): 1085-1096, 2004

11 Kim, T., "Development of a wall-climbing platform with modularized wallcleaning units" 83 : 1-18, 2017

12 Shafi, M. S., "Design and tension control of double drum Winch system for deep-sea exploration equipment" 2015

13 Seo, K., "Design and stability analysis of a novel wall-climbing robotic platform (ROPE RIDE)" 70 : 189-208, 2013

14 "Capstone equation"

15 Liu, Y., "AnyClimb-II: Dry-adhesive linkagetype climbing robot for uneven vertical surfaces" 124 : 197-210, 2018

16 Leamy, M. J., "Analysis of belt-driven mechanics using a creep-rate-dependent friction law" 69 (69): 763-771, 2002