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Información general |
| Autor |
Wang, Kun; Wang, Wei; Zhang, Houxiang |
| Publicado |
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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International Journal of Advanced Robotic Systems
Autor: 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, [...]
Publicado: 2004
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