Author:
Qin Yue,Dong Shaojiang,Pang Rong,Xia Zongyou,Zhou Qingsong,Yang Jianxi
Abstract
Abstract
In order to solve the maneuverability and safety of large bridge appearance inspection, a new type of hexapod wall-climbing robot is designed. As an important branch of mobile robot field, the organic combination of ground mobile robot technology and adsorption technology greatly expands the application range of robot. This paper introduces the mechanical structure of two self-designed legged wall-climbing robots, puts forward four problems on the quadruped robot and improves them on the hexapod robot. At the same time, in order to control the hexapod wall-climbing robot, the kinematics model of the hexapod wall-climbing robot must be established, and on this basis, the forward and inverse kinematics equations of the robot should be solved. The research results show that the two new robots meet the requirements of reliable adsorption and flexible movement, and have large application scenarios. The forward and inverse kinematics solved by the established kinematics model is proved to be effective by experiments.
Reference13 articles.
1. Direcr estimation of motion fron sea floor images for autormatic station-keeping of submersibleplatforms [];Negahdaripour;IEEE of Oceanic Engineering,1999
2. Design andvalidation ofa mobile robot for power lineinspection and maintenance [C];Montambault,2008
3. Robotics:growing maintenance option for utilities[J];Paula;Electrical World,1989
4. The HQ Line ROVER: Contributingto innovationin transmission line maintenance[CA];Serge,2003
5. Positive kinematics analysis of crawling gait of quadruped[J];Xue-dong;Chinese Journal of Mechanical Engineering,2003
Cited by
8 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献