Mohamed A. Fanni, Mohamed G. Alkalla, and Abdelfatah Mohamed
Climbing robot, propeller, vessels inspection, skid steering
EJBot is a propeller-type skid steering climbing robot (SSCR) based on both thruster and differentiable driving systems. Its adhesion principle utilizes a simultaneous hybrid actuation system consisting of propeller thrust forces and driving wheel torques. EJBot can climb different kinds of surfaces, moreover, exploring the industrial vessels’ interiors for implementing the inspection tasks efficiently. kinematics and dynamics analysis are presented in this article for EJBot as an SSCR. The experimental results validate the theoretical findings and ensure the stability of the robot’s adhesion and navigation systems. The robot can cross over significant obstacles with 40 mm height.
Important Links:
Go Back
