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Dynamic analysis during internal transition of a compliant multi-body climbing robot with magnetic adhesion


The control of a robot is optimized to improve its energy efficiency and stability in a geometrically complex environment. For this purpose, analysis is performed on the dynamic modeling of a multi-body robot that can transition its position on corners where horizontal ground and a vertical wall intersect. The robot consists of three bodies that can be attached to the wall by permanent magnetic adhesion and connected by links with two types of compliant joints: a passive type with a torsion spring and an active type with a torque-controlled motor. A dynamics model is derived using the Lagrangian formulation, and investigated in the case of internal corner. Difficulties in the analysis of dynamics for this wall-climbing robot came from how to manage external forces. The external forces acting on the wall-climbing robot result from the wall and the magnets, which change the acting points of the forces. Experiments were conducted to determine the magnetic force with respect to distance. Simulation was then performed to verify the dynamic model. The obtained dynamic model can offer a competent tool for the design and control of the autonomous wall-climbing robot, which can be used for the inspection of heavy-industry buildings, and oil tanks where the geometrically horizontal surface and the vertical wall intersect.

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Corresponding authors

Correspondence to Jongwon Kim or TaeWon Seo.

Additional information

Recommended by Associate Editor Hyungpil Moon

Sungmin Nam received the B.S. degree in the school of mechanical and aerospace engineering from Seoul National University, Seoul, Korea, in 2013. He is currently pursuing a Ph.D. in the school of mechanical engineering from Stanford University, CA, USA. His research interests include modeling and control of wall climbing robots.

Jongkyun Oh received the B.S. degree in the school of mechanical engineering from Chungnam National University, Daejeon, Korea, in 2011. He is currently pursuing a M.S. degree in the school of mechanical and aerospace engineering from Seoul National University, Seoul, Korea. His research interests include control and path planning ofwall climbing robots.

Giuk Lee received the B.S. and Ph.D. degrees in the school of mechanical and aerospace engineering from Seoul National University (SNU), Seoul, Korea, in 2010 and 2014, respectively. He is a post-doctor in SNU from 2014. His research interests include redundant parallel mechanism and wall climbing robots.

Jongwon Kim is a Professor in the School of Mechanical and Aerospace Engineering, Seoul National University, Korea. He received the B.S. degree in Mechanical Engineering from Seoul National University in 1978, and the M.S. degree in Mechanical and Aerospace Engineering from KAIST, Korea, in 1980. He received the Ph.D. in Mechanical Engineering from the University of Wisconsin-Madison, USA, in 1987. He worked with Daewoo Heavy Industry & Machinery, Korea, from 1980 to 1984. From 1987 to 1989, he was Director of the Central R&D Division at Daewoo Heavy Industry & Machinery. From 1989 to 1993, he was a Researcher at the Automation and Systems Research Institute at Seoul National University. His research interests include parallel mechanisms, Taguchi methodology, and field robots.

TaeWon Seo is an Assistant Professor in the School of Mechanical Engineering, Yeung-nam University, Gyeongsan, Korea. He received the Ph.D. in Mechanical Engineering, Seoul National University, in 2008. He was a Post-Doctoral Researcher at the Nanorobotics Laboratory, Carnegie Mellon University, in 2009. His research interests include creative robotic platform design, control, optimization, and motion planning.

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Nam, S., Oh, J., Lee, G. et al. Dynamic analysis during internal transition of a compliant multi-body climbing robot with magnetic adhesion. J Mech Sci Technol 28, 5175–5187 (2014).

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  • Dynamic analysis
  • Climbing robot
  • Internal transition
  • Multi-body robot
  • Magnetic adhesion