The Mechanical Properties of a Wall-Climbing Caterpillar Robot: Analysis and Experiment

International Journal of Advanced Robotic Systems

关键词: Four-Link Motional Method;    Wall-Climbing Robot;    Mechanical Property;    Vibrating Suction Method;   

DOI  :  10.5772/53493

学科分类：自动化工程

来源: InTech

【 摘 要 】

This paper builds the kinematic model of a wall-climbing 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 four-linkage 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 four-linkage model, a wall-climbing caterpillar robot is developed with three different adhesion modules based on the vibrating suction method. A successful wall-climbing test confirms both the practicality of the four-linkage model and...

【 授权许可】

CC BY