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The Mechanical Properties of a Wall-Climbing Caterpillar Robot: Analysis and Experiment : Proprietà meccaniche di un robot insetto arrambicatore analisi ed esperimenti, in: International Journal of Advanced Robotic Systems

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Author Wang, Kun; Wang, Wei; Zhang, Houxiang
Published  InTech Open Access Publisher, 2013
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Abstract This paper builds the kinematic model of a wallclimbing
caterpillar robot to reveal the validity and the
benefits of the closed‐chain kinematics of the four‐linkage
mechanism to a crawling gait. The caterpillar robot can
climb on a vertical wall by coordinating the rotations of
one active joint and three passive joints. The mechanical
property of the closed‐chain kinematics of the fourlinkage
model is analysed. Furthermore, the relation
between the driving joint torque and joint angle in the
wall‐climbing process is deduced based on the coplanar
arbitrary force system. Afterwards, the joint control
method is discussed in order to coordinate the rotation of
the four joints so as to realize a reasonable wall climbing
gait. To testify to the availability of the closed‐chain fourlinkage
model, a wall‐climbing caterpillar robot is
developed with three different adhesion modules based
on the vibrating suction method. A successful wallclimbing
test confirms both the practicality of the fourlinkage
model and the validity of the adhesion modules
based on the vibrating suction method. The results also
show the reasonableness of the driving joint selection rule
for ensuring a safe and reliable wall‐climbing procedure.
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no fulltext found International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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Documents: International Journal of Advanced Robotic Systems
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DMG-Lib FaviconDMG-Lib https://www.dmg-lib.org/dmglib/handler?docum=32514009
Europeana FaviconEuropeana  http://www.europeana.eu/portal/record/2020801/dmglib_handler_docum_32514009.html
PDF FaviconPDF  The Mechanical Properties of a Wall-Climbing Caterpillar Robot: Analysis and Experiment
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Time of publication 2013
License information Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

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