Abstract
A novel robot capable of performing maintenance and inspection tasks for railway bridges is proposed in this paper. Termed CMBOT (climbing manipulator robot), the robot is a combination of a five-degrees-of-freedom (5-Dof) biped climbing robot with two electromagnetic feet and a redundant manipulator with 7-Dof. This capability offers important advantages for performing maintenance and inspection tasks for railway bridges. Several fundamental issues of the CMBOT, such as robotic system development and motion planning algorithms, are addressed in this paper. A series of simulations and prototype experiments were conducted to validate the proposed robotic systems and motion planning algorithm. The results of the experiments show the reliability of the robotic systems and the efficiency of the motion planning algorithm.
Funder
National Key Research and Development Program of China
National Natural Science Foundation of China
Enterprise Technology Commissioner Foundation of Tianjin
Subject
Fluid Flow and Transfer Processes,Computer Science Applications,Process Chemistry and Technology,General Engineering,Instrumentation,General Materials Science
Cited by
15 articles.
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