Dynamics Modeling and Analysis of a Wall-Climbing Robot with Biped-Wheel Hybrid Locomotion Mechanism
DONG Weiguang1,2, WANG Hongguang1, JIANG Yong1
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
2. University of Chinese Academy of Sciences, Beijing 100049, China
For a wall-climbing robot, solution of the reasonable values of adhesion force in different states is studied. Firstly, a biped-wheel hybrid locomotion mechanism including closed loop constraint is analyzed and split into open chain mechanisms according to motion equivalence principle. Dynamic model of the open chain mechanism is built using Newton-Euler method. Based on the dynamic model and the critical conditions for motion failure as constraint function, the adhesion force model is built for the wall-climbing robot moving on arbitrarily inclined surface. Then, the reasonable values of adhesion force in different states can be obtained. The simulation and experiments show that the parameters obtained by the force model can ensure adhesion safety. Therefore, the model constructed is reasonable and can provide theoretical basis for reasonable control of adhesion force in various motion states.
[1] Chu B, Jung K, Han C, et al. A survey of climbing robots: Locomotion and adhesion[J]. Journal of Precision Engineering and Manufacturing, 2010, 11(4): 633-647.[2] Miripour B. Climbing and walking robots[M]. Rijeka, Croatia: InTech, 2010: 1-22.[3] Tummala R L, Mukherjee R, Xi N, et al. Climbing the walls[J]. IEEE Robotics and Automation Magazine, 2002, 9(4): 10-19.[4] Xiao J Z, Sadegh A, Elliot M, et al. Design of mobile robotswith wall climbing capability[C]//IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Piscataway, USA: IEEE, 2005: 438-443.[5] Nishi A. Development of wall-climbing robots[J]. Computers and Electrical Engineering, 1996, 22(2): 123-149.[6] 朱志宏,李济泽,彭晋民,等.微小型壁面检测爬壁机器人移动平台研究 [J].机械工程学报,2011,47(3):49-54.Zhu Z H, Li J Z, Peng J M, et al. Mobile platform of miniature wall-climbing robot for building surface inspection[J]. Journal of Mechanical Engineering, 2011, 47(3): 49-54.[7] Dong W G, Wang H G, Liu A H, et al. Design and analysis of a novel wall-climbing robot mechanism[M]//Advanced Engineering Forum, vol.2-3. Laublsrutistr, Switzerland: Trans Tech Publications Ltd., 2012: 346-351.[8] Seo T, Sitti M. Tank-like module-based climbing robot using passive compliant joints[J]. IEEE Transactions on Mechatronics, 2013, 18(1): 397-408.[9] 姜勇,王洪光,房立金,等.一种用于反恐侦察的爬壁机器人系统 [J].机器人,2006,28(5):530-535.Jiang Y, Wang H G, Fang L J, et al. A climbing robot system for anti-terrorism reconnaissance[J]. Robot, 2006, 28(5): 530-535.[10] 王斌锐, 冯伟博, 骆浩华, 等. 曲面上双足三自由度爬壁机器人设计与稳定性分析 [J].机器人,2014,36(3):349-354.Wang B R, Feng W B, Luo H H, et al. Design and stability analysis of dual-foot 3 DOF climbing robot for blade surface[J]. Robot, 2014, 36(3): 349-354.[11] Minor M, Dulimarta H, Danghi G, et al. Design, implementation, and evaluation of an under-actuated miniature biped climbing robot[C]// IEEE/RSJ International Conference on IntelligentRobots and Systems. Piscataway, USA: IEEE, 2000: 1999-2005.[12] Rochat F, Schoeneich P, Nguyen O T, et al. TRIPILLAR: Miniature magnetic caterpillar climbing robot with plane transition \linebreak ability[C]//Proceedings of 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Singapore, Singapore: World Scientific, 2009: 343-350.[13] Daniel S, Berns K. Development and applications of a simulation framework for a wall-climbing robot[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, USA: IEEE, 2013: 2321-2326.[14] Longo D, Muscato G. The Alicia 3 climbing robot: A three-module robot for automatic wall inspection[J]. IEEE Robotics and Automation Magazine, 2006, 13(1): 42-50.[15] Craig J J. Introduction to robotics: Mechanics and control[M]. New Jersey, USA: Pearson Education, 2005: 62-100.