Open document
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General information |
| Author |
Cui, Weina; Wang, Wei; Zhao, Longchao; Zhang, Houxiang |
| Published |
InTech Open Access Publisher, 2012
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| Abstract |
Due to sliding force arising from the closed
chain mechanism among the adhering points of a
climbing caterpillar robot (CCR), a sliding phenomenon
will happen at the adhering points, e.g., the vacuum pads
or claws holding the surface. This sliding force makes the
attachment of the climbing robot unsteady and
reducesthe motion efficiency. According to the new
bionic research on the soft‐body structure of caterpillars,
some flexible structures made of natural rubber bars are
applied in CCRs correspondingly as an improvement to
the old rigid mechanical design of the robotic structure.
This paper firstly establishes the static model of the
sliding forces, the distortion of flexible bars and the
driving torques of joints. Then, a method to reduce the
sliding force by exerting a compensating angle to an
active joint of the CCR is presented. The analyses and
experimental results indicate that the flexible structure
and the compensating angle method can reduce the
sliding forces remarkably. |
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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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