Hostname: page-component-78c5997874-g7gxr Total loading time: 0 Render date: 2024-11-10T13:06:32.316Z Has data issue: false hasContentIssue false
  • English
  • Français

Mechatronics design of self-adaptive under-actuated climbing robot for pole climbing and ground moving

Published online by Cambridge University Press:  23 November 2021

Yuwang Liu Open the ORCID record for Yuwang Liu [Opens in a new window] ,
Yi Yu ,
Dongqi Wang ,
Sheng Yang  and
Jinguo Liu
Yuwang Liu*
Affiliation:
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, P.R China Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, P.R China
Yi Yu
Affiliation:
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, P.R China Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, P.R China
Dongqi Wang
Affiliation:
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, P.R China Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, P.R China
Sheng Yang
Affiliation:
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, P.R China Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, P.R China
Jinguo Liu
Affiliation:
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, P.R China Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, P.R China
*
*Corresponding author. E-mail: liuyuwang@sia.cn
Get access Rights & Permissions [Opens in a new window]

Abstract

Climbing robots have broad application prospects in aerospace equipment inspection, forest farm monitoring, and pipeline maintenance. Different types of climbing robots in existing research have different advantages. However, the self-adaptability and stability have not been achieved at the same time. In order to realize the self-adaptability of holding and climbing stability, this work proposes a new type of climbing robot under the premise of minimizing the driving source. The robot realizes stable multifinger holding and wheeled movement through two motors. At the same time, the robot has two different working modes, namely pole climbing and ground crawling. The holding adaptability and climbing stability are realized by underactuated holding mechanism and model reference adaptive controller (MRAC). On the basis of model design and parameter analysis, a prototype of the climbing robot is built. Experiments prove that the proposed climbing robot has the ability to stably climb poles of different shapes. The holding and climbing stability, self-adaptability, and climbing and crawling speed of the proposed climbing robot are verified by experiments.

Keywords

underactuated mechanismclimbing robotself-adaptive holdingmodel reference adaptive controlground moving
Type
Research Article
Information
Robotica , Volume 40 , Issue 7 , July 2022 , pp. 2255 - 2274
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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

Schmidt, D. and Berns, K., “Climbing robots for maintenance and inspections of vertical structures—A survey of design aspects and technologies,” Robotics 61(12), 1288–1305 (2013).Google Scholar
Zhu, H., Guan, Y., Wu, W., X. Chen, X. Zhou and H. Zhang et al. , “A binary approximating method for graspable region determination of biped climbing robots,” Adv. Rob. 28(21), 1405–1418 (2014).CrossRefGoogle Scholar
Wu, E. C., Hwang, J. C. and Chladek, J. T., “Fault-tolerant joint development for the space shuttle remote manipulator system: Analysis and experiment,” IEEE Trans. Robotic. Autom. 9(5), 675–684 (1993).Google Scholar
Fukazu, Y., Hara, N., Kanamiya, Y. and Sato, D., “Reactionless Resolved Acceleration Control with Vibration Suppression Capability for JEMRMS/SFA,” Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics, Thailand (2009) pp. 1359–1364.Google Scholar
Ma, O., Buhariwala, K., Roger, N., MacLean, J. and Carr, R., “MDSF - A generic development and simulation facility for flexible, complex robotic systems,” Robotica 15(1), 49–62 (1997).CrossRefGoogle Scholar
Boumans, R. and Heemskerk, C., “The european robotic arm for the international space station,” Robot. Auton. Syst. 23(1-2), 17–27 (1998).CrossRefGoogle Scholar
Guan, Y., Jiang, L., Zhu, H., Zhou, X. and Zhang, X., “Climbot: A Modular Bio-Inspired Biped Climbing Robot,” 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (2011) pp. 1473–1478.Google Scholar
Ueki, S., Kawasaki, H., Ishigure, Y., Koganemaru, K. and Mori, Y., “Development and experimental study of a novel pruning robot,” Artif. Life Rob. 16(1), 86–89 (2011).CrossRefGoogle Scholar
Yaqub, S., Ali, A., Usman, M. and Han, C., “A spiral curve gait design for a modular snake robot moving on a pipe,” Int. J. Control. Autom. 17(10), 2565–2573 (2019).CrossRefGoogle Scholar
Jang, K., An, Y. K., Kim, B. and Cho, S., “Automated crack evaluation of a high-rise bridge pier using a ring-type climbing robot,” Comput. Aided Civ. Inf., 36(1), 1–16 (2020).CrossRefGoogle Scholar
Baghani, A., Ahmadabadi, M. N. and Harati, A., “Kinematics Modeling of a Wheel-Based Pole Climbing Robot (UT-PCR),” 2005 IEEE International Conference on Robotics and Automation (2005) pp. 2099–2104.Google Scholar
Spenko, M. J., “Biologically inspired climbing with a hexapedal robot,” J. Field Robot. 25(4), 223–242 (2008).CrossRefGoogle Scholar
Lam, T. L. and Xu, Y., “Climbing strategy for a flexible tree climbing robot—Treebot,” IEEE Trans. Robot. 26(4), 12–23 (2011).Google Scholar
Tavakoli, M., Marques, L. and de Almeida, A. T., “3DClimber: Climbing and manipulation over 3D structures,” Mechatronics 21(1), 48–62 (2011).CrossRefGoogle Scholar
Yun, S. K. and Rus, D., “Self-Assembly of Modular Manipulators with Active and Passive Modules,” IEEE International Conference on Robotics and Automation (2008) pp. 1477–1483.Google Scholar
Boomeri, V., Pourebrahim, S. and Tourajizadeh, H., “Kinematic and Dynamic Modeling of an Infrastructure Hybrid Climbing Robot,” IEEE International Conference on Knowledge-Based Engineering and Innovation (2017) pp. 0834–0842.Google Scholar
Peidró, A., Tavakoli, M., Marín, J. M. and Reinoso, Ó., “Design of compact switchable magnetic grippers for the HyReCRo structure-climbing robot,” Mechatronics 59(1), 199–212 (2019).CrossRefGoogle Scholar
Jiang, Y., “Multimodal pipe-climbing robot with origami clutches and soft modular legs,” Bioinspir. Biomim. 15(2), 1–12 (2019).Google Scholar
Chen, S., Zhu, H., Guan, Y., Wu, P. and Hong, Z., “Collision-Free Single-Step Motion Planning of Biped Pole-Climbing Robots in Spatial Trusses,” IEEE International Conference on Robotics and Biomimetics (2013) pp. 280–285.Google Scholar
Liu, Y., Kim, H. G. and Seo, T. W., “AnyClimb: A new wall-climbing robotic platform for various curvatures,” IEEE-ASME T. Mech. 21(4), 1812–1821 (2016).Google Scholar
Kim, H. G., Sitti, M. and Seo, T. W., “Tail-assisted mobility and stability enhancement in yaw and pitch motions of a water-running robot,” IEEE-ASME T Mech. 22(3), 1207–1217 (2017).CrossRefGoogle Scholar
Lynch, G. A., Clark, J. E. and Lin, P. C., “A bioinspired dynamical vertical climbing robot,” Int. J. Robot. Res. 31(8), 974–996 (2012).CrossRefGoogle Scholar
Kim, S., Spenko, M., Trujillo, S., Heyneman, B. and Cutkosky, R., “Whole Body Adhesion: Hierarchical, Directional and Distributed Control of Adhesive Forces for a Climbing Robot,” IEEE International Conference on Robotics and Automation, Roma (2007) pp. 1268–1273.Google Scholar
Schiller, L., Seibel, A. and Schlattmann, J., “Toward a gecko-inspired, climbing soft robot,” Front. Neurorob. 13, Article 106 (2019).CrossRefGoogle Scholar
Cruz-Ortiz, D., Ballesteros-Escamilla, M., Chairez, I. and Luviano, A., “Output second-order sliding-mode control for a gecko biomimetic climbing robot,” J. Bionic Eng. 16(4), 633–646 (2019).CrossRefGoogle Scholar
Jiang, Q., Wang, Z., Zhou, J., Chen, W. and Dai, Z., “Analysis of reaction force and locomotor behavior on geckos in time- and frequency-domain during climbing on vertical substrates,” J. Bionic Eng. 16(1), 115–129 (2019).CrossRefGoogle Scholar
Wu, L., Carbone, G. and Ceccarelli, M., “Designing an underactuated mechanism for a 1 active DOF finger operation,” Mech. Mach. Theory, 44(2), 336–348 (2009).CrossRefGoogle Scholar
Mohammed, M., Chua, S. and Kwek, L., “Comprehensive Review on Reaching and Grasping of Objects in Robotics,” Robotica, 2021, 1–34 (2021).Google Scholar
Birglen, L., and Gosselin, C., “Kinetostatic analysis of underactuated fingers,” IEEE T. Robotic. Autom. 20(2), 211–221 (2004).CrossRefGoogle Scholar

Liu et al. supplementary material

Liu et al. supplementary material

Download Liu et al. supplementary material(Video)
Video 35.4 MB