Equilibrium Control on Four-Limbed Climbing Robot

Abstract:

This research represents a method to improve the technology that enables the design andsimulation of a four-limbed climbing robot, named FLC-Robot. It is equipped with planning capabilitiesto free climb vertical terrain. It means to extend the robot's ability to a vertical direction underthe gravity force. However, we need to analyze climbing and create the theory in parallel with hardwaredevelopment. In this paper, the equilibrium allowance area of the four-limbed climbing robotis introduced and the corresponding torque is calculated. Hence, this paper starts with a rudimentaryanalysis of mechanical structure and kinematics of FLC-robot. Secondly, a 3D climbing robot modelis built and simulated in Matlab-Simscape environment. Finally, the corresponding motion planningand control method is performed considering statics and dynamics.This research represents a method to improve the technology that enables the design andsimulation of a four-limbed climbing robot, named FLC-Robot. It is equipped with planning capabilitiesto free climb vertical terrain. It means to extend the robot's ability to a vertical direction underthe gravity force. However, we need to analyze climbing and create the theory in parallel with hardwaredevelopment. In this paper, the equilibrium allowance area of the four-limbed climbing robotis introduced and the corresponding torque is calculated. Hence, this paper starts with a rudimentaryanalysis of mechanical structure and kinematics of FLC-robot. Secondly, a 3D climbing robot modelis built and simulated in Matlab-Simscape environment. Finally, the corresponding motion planningand control method is performed considering statics and dynamics.

• Periodical: Applied Mechanics and Materials (Volumes 799-800)
• Pages: 1021-1027
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.799-800.1021
• Online since: October 2015
• Authors: Anh Dung Nguyen*, Akira Shimada
• Keywords: Climbing Robot, Four-Limb, Motion Planning, SimMechanics

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