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Design and analysis of 4SRRR legged wall-climbing robot

Zhongjin JU Ke WEI Yundou XU Yongsheng ZHAO

Zhongjin JU, Ke WEI, Yundou XU, Yongsheng ZHAO. Design and analysis of 4SRRR legged wall-climbing robot[J]. 先进制造科学与技术, 2023, 3(2): 2023005. doi: 10.51393/j.jamst.2023005
引用本文: Zhongjin JU, Ke WEI, Yundou XU, Yongsheng ZHAO. Design and analysis of 4SRRR legged wall-climbing robot[J]. 先进制造科学与技术, 2023, 3(2): 2023005. doi: 10.51393/j.jamst.2023005
Zhongjin JU, Ke WEI, Yundou XU, Yongsheng ZHAO. Design and analysis of 4SRRR legged wall-climbing robot[J]. Journal of Advanced Manufacturing Science and Technology , 2023, 3(2): 2023005. doi: 10.51393/j.jamst.2023005
Citation: Zhongjin JU, Ke WEI, Yundou XU, Yongsheng ZHAO. Design and analysis of 4SRRR legged wall-climbing robot[J]. Journal of Advanced Manufacturing Science and Technology , 2023, 3(2): 2023005. doi: 10.51393/j.jamst.2023005

Design and analysis of 4SRRR legged wall-climbing robot

doi: 10.51393/j.jamst.2023005
基金项目: 

National Natural Science Foundation of China (Grant No.51875495), Hebei Science and Technology Project (Grant No.206Z1805G) provided funding for the authors' experiments.

详细信息
    通讯作者:

    Yundou XU,E-mail:ydxu@ysu.edu.cn

Design and analysis of 4SRRR legged wall-climbing robot

Funds: 

National Natural Science Foundation of China (Grant No.51875495), Hebei Science and Technology Project (Grant No.206Z1805G) provided funding for the authors' experiments.

  • 摘要:

    Currently, manual detection of wall welds and surface microcracks on ships and oil tanks is not only inefficient but also potentially hazardous. This study proposes a 4SRRR legged wall-climbing robot with redundant actuation, designed to accommodate the characteristics of permeable materials, to address this issue. First, the robot's gait is examined, followed by a thorough examination of its stability on both vertical and horizontal surfaces. For vertical surfaces, a statics analysis is conducted to prevent the risk of falling, whereas, for horizontal surfaces, the margin of stability is evaluated. To determine the required degrees of freedom for the robot to complete its assigned tasks, the screw theory is applied. The De-navit-Hartenberg (D-H) method is then used to analyze the forward and inverse kinematics of the robot. In addition, the La-grange balance method is used to analyze the swing leg's dynamics. A control algorithm for impedance is developed for situations in which the swinging leg collides with the ground. A prototype is then designed and tested to assess the wall-climbing performance and the efficacy of the impedance control strategy when the swinging leg experiences an impact. This research seeks to provide a solid theoretical foundation and technical support for the engineering application of wall-climbing robots, thereby enhancing the efficiency and safety of wall weld and surface microcrack detection processes in ships and oil tanks.

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出版历程
  • 收稿日期:  2023-04-18
  • 修回日期:  2023-04-27
  • 网络出版日期:  2023-05-26
  • 刊出日期:  2023-06-21

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