Abstract:SUMMARYTo obtain better performance on unstructured environments, such as in agriculture, forestry, and high-altitude operations, more and more researchers and engineers incline to study classes of biologically inspired robots. Since the natural inchworm can move well in various types of terrain, inchworm-like robots can exhibit excellent mobility. This paper describes a novel inchworm-type robot with simple structure developed for the application for climbing on trees or poles with a certain range of diameter… Show more
“…Each of those via points is converted into a set of desired joint angles by inverse kinematics, which has been developed by Yao et al. 1 The desired joint angles are listed in Table 2.…”
Section: Simulation Resultsmentioning
confidence: 99%
“…Climbing robots are suitable choices to do high-altitude operations for men. 1 Figure 1.Examples of high-altitude operations: (a) pruning tree branches, (b) replacing street lights, (c) cable maintenance, (d) painting walls, (e) constructing wires, and (f) cleaning wall glass.…”
Section: Introductionmentioning
confidence: 99%
“…Climbing robots are suitable choices to do high-altitude operations for men. 1 The goal of motion planning of a robot is to generate a function according to which a robot will move. The motion path of a robot is a position and orientation set arranged in order, while the trajectory is related to the time when the robot should reach the path, so the latter refers to a time history of position, velocity, and acceleration.…”
Since inchworm-like robots can exhibit excellent mobility in unstructured environments, it will be widely applied in agriculture, forestry, and high-altitude operations. Trajectory planning is an important issue for a climbing robot. This paper focuses on an inchworm-like climbing robot to plan its trajectory. The climbing process of the robot, especially the transitional gait when the robot is planned to climb over tree branches, is analyzed. Based on the gait analysis, the robot’s geometrical path is determined, and its waypoints are described by joint angles. 3-5-3 type polynomial interpolation function is adopted to fit the robot’s motion trajectory. To save the climbing time for the robot, its climbing transitional gaits for climbing over tree branches are optimized by using quantum-behaved particle swarm optimization algorithm to minimize the climbing time. Simulations are carried out to verify the developed trajectory planning, and the optimal results obtained from quantum-behaved particle swarm optimization are compared with the optimal solutions obtained by particle swarm optimization and genetic algorithm to further validate the effectiveness of the proposed method.
“…Each of those via points is converted into a set of desired joint angles by inverse kinematics, which has been developed by Yao et al. 1 The desired joint angles are listed in Table 2.…”
Section: Simulation Resultsmentioning
confidence: 99%
“…Climbing robots are suitable choices to do high-altitude operations for men. 1 Figure 1.Examples of high-altitude operations: (a) pruning tree branches, (b) replacing street lights, (c) cable maintenance, (d) painting walls, (e) constructing wires, and (f) cleaning wall glass.…”
Section: Introductionmentioning
confidence: 99%
“…Climbing robots are suitable choices to do high-altitude operations for men. 1 The goal of motion planning of a robot is to generate a function according to which a robot will move. The motion path of a robot is a position and orientation set arranged in order, while the trajectory is related to the time when the robot should reach the path, so the latter refers to a time history of position, velocity, and acceleration.…”
Since inchworm-like robots can exhibit excellent mobility in unstructured environments, it will be widely applied in agriculture, forestry, and high-altitude operations. Trajectory planning is an important issue for a climbing robot. This paper focuses on an inchworm-like climbing robot to plan its trajectory. The climbing process of the robot, especially the transitional gait when the robot is planned to climb over tree branches, is analyzed. Based on the gait analysis, the robot’s geometrical path is determined, and its waypoints are described by joint angles. 3-5-3 type polynomial interpolation function is adopted to fit the robot’s motion trajectory. To save the climbing time for the robot, its climbing transitional gaits for climbing over tree branches are optimized by using quantum-behaved particle swarm optimization algorithm to minimize the climbing time. Simulations are carried out to verify the developed trajectory planning, and the optimal results obtained from quantum-behaved particle swarm optimization are compared with the optimal solutions obtained by particle swarm optimization and genetic algorithm to further validate the effectiveness of the proposed method.
“…It proves the better working stability of SRC model. According to some literature [11]- [12], the SRC model is more suitable for the flexible cleaning situation where the resistance is much heavier, whilst the LRC model is more suitable for dry friction situation where the resistance is lighter.…”
For achieving the compact size and large traction force of cleaning robots, this paper presents an intermittentcleaning robot based on the screw-driven mechanism. The robot has two working modes: linear reciprocating cleaning (LRC) mode and spiral reciprocating cleaning (SRC) mode. The working principle, kinematic analysis, traction and driving force calculations for both working modes, were obtained and compared. Furthermore, in order to ensure the working stability, the failure mode analysis was performed. Simulation and experiments were conducted to verify the proposed robotic mechanism. The results show that the cleaning capabilities of the proposed intermittent-cleaning robots are superior to those standard screw-driven cleaning mechanisms.
“…This class of robots has high mobility and flexibility in limited spaces, 1,2 which enables them to have potential applications in pipeline inspection, disaster rescue, reconnaissance in battle fields, etc. Learning from the animal's locomotion, especially snakes, 3 earthworms, 4 caterpillars, 5 inchworms, 6 and cockroaches, 7 provides us with important guidelines for modelling miniature robots. The mechanical model of Shell presented here is a vibration-driven locomotion system, which is often adopted to build earthworm-like robots.…”
SUMMARYThis paper reports the design, analysis, and control of a miniature vibration-driven planar locomotion robot called Shell. A vibration-driven system is able to achieve locomotion based on internal oscillations and anisotropic friction forces. In this robot design, two parallel oscillators are employed to provide propelling forces, and a blade-like support is designed to generate anisotropic frictional contact with the ground. If the two parallel oscillators are of different frequencies and amplitudes, two-dimensional locomotion of the robot can be achieved. To predict the robot's planar locomotion, a dynamic model is developed. Controlling the robot's locomotion and especially, the locomotion modes can be achieved by adjusting the vibration frequencies of the two internal oscillators. Experimental results show that Shell can be controlled to move rectilinearly and along circles with certain curvatures. In addition, by combining these basic trajectories, Shell can move freely on a horizontal plane.
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