The obstacle-surmounting analysis of a pole-climbing robot

International Journal of Advanced Robotic Systems

article

Du Qiaoling¹  Lu Xinpo¹  Wang Yankai¹  Liu Sinan¹ 

[1] State Key Laboratory on Integrated Optoelectronics, College of Electronic Science and Engineering, Jilin University

关键词: Five-bar linkage;    pole-climbing robot;    obstacle-surmounting;    autonomous climbing;   

DOI  :  10.1177/1729881420979146

学科分类：社会科学、人文和艺术（综合）

来源: InTech

【 摘 要 】

Surmounting obstacles during continuously climbing in a complex environment is an important issue for pole-climbing robots. An obstacle-surmounting strategy is presented for a pole-climbing robot. The force and moment applied on the pole-climbing robot in static status were analyzed, and the analysis of pole-climbing robot’s upward vertical climbing was conducted. The climbing execution has four steps: loosening the lower gripper, curling up, striding forward, and clamping the upper gripper. To obtain the information of obstacle crossing accurately, the obstacle-surmounting conditions were analyzed in detail. We modeled the striding linkage with thickness and obtained the Denavit–Hartenberg coordinates of each vertex. The model of the grippers with thickness was proposed and the Denavit–Hartenberg coordinates of each vertex of the grippers were obtained. Then single-step negotiating an obstacle and multistep negotiating an obstacle were proposed. Experiments were conducted to verify the effectiveness of the obstacle-surmounting strategy.

【 授权许可】

CC BY