[1]DONG Weiguang,WANG Hongguang,JIANG Yong.Kinematic analysis of the wall-climbing robot with abiped-wheel hybrid locomotion mechanism[J].CAAI Transactions on Intelligent Systems,2015,10(3):335-342.[doi:10.3969/j.issn.1673-4785.201411038]
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Kinematic analysis of the wall-climbing robot with abiped-wheel hybrid locomotion mechanism

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 10 Number of periods: 2015 3 Page number: 335-342 Column: 学术论文—智能系统 Public date: 2015-06-25
Title:
Kinematic analysis of the wall-climbing robot with abiped-wheel hybrid locomotion mechanism
Author(s):
DONG Weiguang1; 2;  WANG Hongguang1;  JIANG Yong1
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
2. University of Chinese Academy of Sciences, Beijing 100049, China
Keywords:
wall-climbing robot; biped-wheel hybrid; locomotion mechanism; kinematics; wall transition
CLC:
TP24
DOI:
10.3969/j.issn.1673-4785.201411038
Abstract:
The kinematics of the wall-climbing robot with a biped-wheel hybrid locomotion mechanism is studied. The kinematic equations of the two basic locomotion modes are integrated using a transformation matrix. In addition, the tilt angle of the attachment wall is introduced to the kinematic expression to build the kinematics model of hybrid locomotion mode. A judgment process of locomotion modes is built based on a given task in the inverse kinematics. Aiming at the multi-solution problem in solving inverse kinematics of the hybrid locomotion mode, an optimization method is proposed considering adsorption safety. Finally, the method is verified through simulation of wall concave transition. The results showed that the wall transition of the robot can be achieved successfully and the method proposed is practical and effective for the hybrid locomotion mechanism.
References:
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