Motion planning of a climbing parallel robot

Abstract

Abstract-This paper proposes a novel application of the Stewart-Gough parallel platform as a climbing robot and its kinematics control to climb through long structures describing unknown spatial trajectories, such as palm trunks, tubes, etc. First, the description and design of the climbing parallel robot is presented. Second, the inverse and forward kinematics analysis of a mobile six-degrees-of-freedom parallel robot is described, based on spatial constraint formulation. Finally, the gait pattern and the climbing strategy of the parallel robot is described. The information from this research is being used in an actual climbing parallel robot design at Miguel Hernández University of Elche (Alicante), Spain.

Multi-Step Motion Planning for Free-Climbing Robots

“…Such robots need not incorporate special fixtures or tools, nor need they be designed specifically for climbing, as have previous climbing robots (e.g., [2,3,11,16,17,25]). Their flexibility could benefit several application areas, including search-and-rescue, surveillance, and planetary exploration.…”

Using Parallel Platforms as Climbing Robots

“…Analytical solutions to this problem only have been found in some easy configurations making use of the Denavit-Hartenberg formulation o with geometric restrictions (Innocenti & Parenti-Castelli, 1993;Ait-Ahmed & Renaud, 1993). To achieve the solution for more complex configurations it is necessary to employ numerical methods (Almonacid et al, 2003). These methods provides higher degree polynomical solutions with multiple solutions.…”

“…The three sensors allow calculating the difference between the centre of the ring and the tube . Based on this estimate, an algorithm to control the displacement of the moving ring can be done by maintaining it centred and following the curve of the tube automatically (Almonacid et al 2003). The climbing process is composed by four steps working in sequence.…”

Climbing with Parallel Robots

“…The forward kinematic of the G-S platform has been previously analyzed for many authors (Husty, 1994) (Dasgupta, 1994). This paper has been developed in based to references (Almonacid, 2003) (Aracil, 2006) and (Saltaren 2005) and reflects the state of the art of the researchers made by the authors during the last years. The morphology proposed for the parallel G-S platform as climbing robot is shown in Fig.…”