Hostname: page-component-cd9895bd7-q99xh Total loading time: 0 Render date: 2024-12-25T05:09:37.803Z Has data issue: false hasContentIssue false
  • English
  • Français

Screw theory based motion analysis for an inchworm-like climbing robot

Published online by Cambridge University Press:  29 April 2014

Jianjun Yao ,
Shuang Gao ,
Guilin Jiang ,
Thomas L. Hill ,
Han Yu  and
Dong Shao
Jianjun Yao*
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
Shuang Gao
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
Guilin Jiang
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
Thomas L. Hill
Affiliation:
Department of Mechanical Engineering, University of Bristol, Bristol BS8 1TR, UK
Han Yu
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
Dong Shao
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

To obtain better performance on unstructured environments, such as in agriculture, forestry, and high-altitude operations, more and more researchers and engineers incline to study classes of biologically inspired robots. Since the natural inchworm can move well in various types of terrain, inchworm-like robots can exhibit excellent mobility. This paper describes a novel inchworm-type robot with simple structure developed for the application for climbing on trees or poles with a certain range of diameters. Modularization is adopted in the robot configuration. The robot is a serial mechanism connected by four joint modules and two grippers located at the front and rear end, respectively. Each joint is driven by servos, and each gripper is controlled by a linear motor. The simplified mechanism model is established, and then is used for its kinematic analysis based on screw theory. The dynamics of the robot are also analyzed by using Lagrange equations. The simulation of the robot gait imitating the locomotion of real inchworm is finally presented.

Keywords

Bionic robotClimbing robotScrew theoryMulti degrees of freedomGripperGait
Type
Articles
Information
Robotica , Volume 33 , Issue 8 , October 2015 , pp. 1704 - 1717
Copyright
Copyright © Cambridge University Press 2014 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. Shen, W. M., Gu, J. and Shen, Y. J., “Proposed Wall Climbing Robot with Permanent Magnetic Tracks for Inspecting Oil Tanks,” Proceedings of the IEEE International Conference on Mechatronics & Automation, Niagara Falls, Canada (Jul. 29–Aug. 1, 2005) pp. 2072–2077.Google Scholar
2. Fu, Y. L., Li, Z. H., Yang, H. J. and Wang, S. G., “Development of a Wall Climbing Robot with Wheel-Leg Hybrid Locomotion Mechanism,” Proceedings of the IEEE International Conference on Robotics and Biomimetics, Sanya, China (Dec. 15–18, 2007) pp. 1876–1881.Google Scholar
3. Yi, Z. Y., Gong, Y. J., Wang, Z. W. and Wang, X. R., “Development of a Wall Climbing Robot for Ship Rust Removal,” Proceedings of the International Conference on Mechatronics and Automation, Changchun, China (Aug. 9–12, 2009) pp. 4610–4615.Google Scholar
4. Balaguer, C., Gimenez, A., Huete, A. J., Sabatini, A. M., Topping, M. and Bolmsjo, G., “The MATS robot: Service Climbing Robot for Personal Assistance,” IEEE Rob. Autom. Mag. 13 (1), 51–58 (2006).Google Scholar
5. Sang, H. L., “Design of the out-pipe type pipe climbing robot,” Int. J. Precis. Eng. Man. 14 (9), 1559–1563 (2013).Google Scholar
6. Ig, M. K., Tran, D. T., Yoon, H. L., Hyungpil, M., Jachoon, K., Sun, K. P. and Hyouk, R. C., “Development of wall climbing robot system by using impeller type adhesion mechanism,” J. Intell. Rob. Syst. Theor. Appl. 72, 57–72 (2013).Google Scholar
7. Guan, Y. S., Jiang, L., Zhu, H. F., Zhou, X. F., Cai, C. W., Wu, W. Q., Li, Z. C., Zhang, H. and Zhang, X. M., “Climbot: A Modular Bio-Inspired Biped Climbing Robot,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, USA (Sep. 25–30, 2011) pp. 1473–1478.Google Scholar
8. William, R. P., Samuel, I. J. S. and Mark, A. F., “ROCR: An Energy-Efficient Dynamic Wall-Climbing Robot,” IEEE ASME Trans. Mechatron. 16 (5), 897–906 (2011).Google Scholar
9. Xiao, J. Z., Mark, M., Hans, D., Ning, X., Mukhejee, R. and Tummala, R. L., “Modeling and Control of an Under-Actuated Miniature Crawler Robot,” Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, Hawaii, USA (Oct. 29 –Nov 3, 2001) pp. 1546–1551.Google Scholar
10. Wu, X., Wang, D. P., Zhao, A. W., Li, D. and Mei, T., “A Wall-Climbing Robot with Biomimetic Adhesive Pedrail,” Adv. Mechatronics MEMS Devices Microsyst. 23, 179–191 (2016).Google Scholar
11. Liu, J. L., Tong, Z. Q., Fu, J. Y., Wang, D. H., Su, Q. and Zou, J., “A Gecko Inspired Fluid Driven Climbing Robot,” Proceedings of the 2011 IEEE International Conference on Robotics and Automation, Shanghai, China (May 9–13, 2011) pp. 783–788.Google Scholar
12. Almonacid, M., Saltaren, R., Aracil, R. and Reinoso, O., “Motion planning of a climbing parallel robot,” IEEE Trans. Rob. Autom. 19 (3), 485–489 (2003).Google Scholar
13. Kawasaki, H., Murakami, S., Kachi, H. and Ueki, S., “Novel Climbing Method of Pruning Robot,” SICE Annual Conference, Tokyo, Japan (Aug. 20–22, 2008) pp. 160–163.Google Scholar
14. Ueki, S., Kawasaki, H., Ishigure, Y., Koganemaru, K. and Mori, Y., “Development and Experimental Study of a Novel Pruning Robot,” Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB, Oita, Japan (Jan. 27–29, 2011) pp. 86–89.Google Scholar
15. Yao, J. J., Di, D. T., Gao, S., He, L. and Hu, S. H., “Sliding mode control scheme for a jumping robot with multi-joint based on floating basis,” Int. J. Control 85 (1), 41–49 (2012).Google Scholar
16. Yao, J. J., Yang, Q., Gao, S. and Hu, S. H., “Optimization design for a jumping leg robot based on generalized inertia ellipsoid,” Robotica 30 (7), 1213–1219 (2012).Google Scholar
17. Yao, J. J., Tan, X. Q. and Hu, S. H., “Structural design of a frog-like hopping robot with consideration of vibration and its kinematic analysis,” J. Vib. Control 19 (2), 309–320 (2013).Google Scholar
18. Featherstone, R., Robot Dynamics Algorithm (Springer, New York, 2008).Google Scholar
19. Man, C. H., Fan, X., Li, C. R. and Zhao, Z. H., “Kinematics analysis based on screw theory of a humanoid robot,” J. China Univ. Min. Technol. 17 (1), 49–52 (2007).Google Scholar
20. Yao, J. J. and Wang, C. J., “Model reference adaptive control for a hydraulic underwater manipulator,” J. Vib. Control 18 (6), 893–902 (2012).Google Scholar
21. Stoten, D. P., Model Reference Adaptive Control of Manipulator (Research Studies Press Ltd, Taunton, 1990).Google Scholar
22. Craig, J. J., Introduction to Robotics: Mechanics and Control (Addison-Wesley Publishing Company, California, 1986).Google Scholar
23. Ueno, S., Takemura, K., Yokota, S. and Edamura, K., “An Inchworm Robot Using Electro-Conjugate Fluid,” Proceedings of the 2012 IEEE International Conference on Robotics and Biomimetics, Guangzhou, China (Dec. 11–14, 2012) pp. 1017–1022.Google Scholar