The Design and the Gait Planning Analysis of Hexapod Wall-Climbing Robot

被引：1
|
作者：
Li, Yongjie [1 ]
Zhai, Jiaxin [1 ]
Yan, Weixin [1 ]
Zhao, Yanzheng [1 ]
机构：
[1] Shanghai Jiao Tong Univ, Inst Robot, Shanghai, Peoples R China
来源：
INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2016, PT I | 2016年 / 9834卷
关键词：
Hexapod robot; Wall-climbing; Radial symmetry; Model optimization Mobility; Load carrying capacity; Tripod gait; Non-tripod gait;
D O I：
10.1007/978-3-319-43506-0_54
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, the authors manage to design and control a kind of hexapod wall-climbing robot, which is a radial symmetric, with 18 actuators - 3 steering motors allocated at each leg - supposed to be effectively mobile. Suckers, solenoid valves and vacuum pump are equipped to enable the function of wall climbing. In order to reach the target, mathematic model is optimized in advance. And it is designed to be light but meanwhile has a certain capacity of load-carrying. By alternating the gait between the tripod and the non-tripod one, or adjusting the open-loop control strategy, the load-carrying capacity can be extended a lot at the price of reducing the mobility.
引用
收藏
页码：619 / 631
页数：13
相关论文
共 50 条
  • [21] Design and Simulation Analysis of a Magnetic Adsorption Mechanism for a Wall-Climbing Robot
    Chen, Jiankun
    He, Kai
    Fang, Haitao
    Liu, Junnian
    Ma, Hailin
    INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2021, PT IV, 2021, 13016 : 147 - 157
  • [22] Design analysis of electro-adhesive mechanism for wall-climbing robot
    Bisht, Ravindra Singh
    Pathak, Pushparaj Mani
    Panigrahi, Soraj Kumar
    MECHANICS BASED DESIGN OF STRUCTURES AND MACHINES, 2023, 51 (11) : 6023 - 6040
  • [23] Permanent magnetic system design for the wall-climbing robot
    Shen, Weimin
    Gu, Jason
    Shen, Yanjun
    2005 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATIONS, VOLS 1-4, CONFERENCE PROCEEDINGS, 2005, : 2078 - 2083
  • [24] Design of a Double-Propellers Wall-Climbing Robot
    Sukvichai, Kanjanapan
    Maolanon, Pruttapon
    Songkrasin, Konlayut
    2017 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (IEEE ROBIO 2017), 2017, : 239 - 245
  • [25] Dynamic Simulator for Design and Control of a Wall-climbing Robot
    Ioi, Kiyoshi
    Kito, Takashi
    Tanaka, Yoshiki
    2019 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 2019, : 40 - 46
  • [26] Gait control of micro wall-climbing robot based on initiative exploration
    State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
    Jixie Gongcheng Xuebao, 1600, 7 (56-62):
  • [27] A WHEELED WALL-CLIMBING ROBOT WITH A CLIMBING LEG
    Fu, Yili
    Li, Zhihai
    Yang, Hejin
    Wang, Shuguo
    ADVANCES IN CLIMBING AND WALKING ROBOTS, PROCEEDINGS, 2007, : 55 - 64
  • [28] Research on Gait Stability of a Foot-Type Wall-Climbing Robot
    Xu, Zili
    Gu, Sijia
    Zhao, Ming'en
    Bao, Peng
    Tian, Hua
    2019 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA), 2019, : 1471 - 1477
  • [29] Design and analysis of a wall-climbing robot for water wall inspection of thermal power plants
    Jiang, Ze
    Chen, Bo
    Ju, Zhongjin
    Li, Yichao
    Xu, Yundou
    Zhao, Yongsheng
    JOURNAL OF FIELD ROBOTICS, 2023, 40 (05) : 1003 - 1013
  • [30] A novel stiffness model for a wall-climbing hexapod robot based on nonlinear variable stiffness
    He, Bin
    Xu, Shoulin
    Wang, Zhipeng
    ADVANCES IN MECHANICAL ENGINEERING, 2018, 10 (01):
12345