Abstract
In order to combine the advantages of rail-type inspection robot and wheeled inspection robot, this paper proposes a modular wheel-legged robot (Mobot-H) for ground and rail inspection. The robot has the characteristics of high mobility, over-obstacle and multi-purpose. Firstly, The robot system is introduced. Mobot-H is composed of joint modules, wheel-footed modules, and body modules, which can be reconstructed into various configurations and has three different motion modes. Secondly, the over-obstacle motion of Mobot-H is introduced on the ground, and the limit and center of gravity of over-obstacle are deeply analyzed. The working principle of the robot is introduced on the rail, its motion characteristics are analyzed and its steering motion model is established. Finally, a series of prototype experiments and simulation experiments are designed.
Supported by the Key Research and Development Program of Guangdong Province (Grant No. 2019B090915001).
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Yamauchi, B.M.: PackBot: a versatile platform for military robotics. In: Unmanned Ground Vehicle Technology VI, pp. 228–237 (2004)
Li, I.H., Wang, W.Y., Tseng, C.K.: A Kinect-sensor-based tracked robot for exploring and climbing stairs. Int. J. Adv. Rob. Syst. 11(5), 80 (2014)
Baetz, W., Kroll, A., Bonow, G.: Mobile robots with active IR-optical sensing for remote gas detection and source localization. In: IEEE International Conference on Robotics and Automation, pp. 2773–2778 (2009)
Beaudry, J., Allan, J.F.: Electrical substation inspection and intervention robot, field experiments. In: IEEE International Conference on Applied Robotics for the Power Industry, pp. 1–2 (2014)
Xu, W., Yang, S., Mu, S.: Modularization design of inspection robot based on substation. In: IEEE Advanced Information Technology, Electronic and Automation Control Conference, pp. 2230–2233 (2018)
Wang, C., Wang, Z., Hu, H., Li, L.: Innovative design and kinematic characteristics analysis of floating mobile chassis of inspection robot. Mechines 11(1) (2023)
Leonidas, E., Xu, Y.: The development of an automatic inspection system used for the maintenance of rail tunnels. In: IEEE International Conference on Automation and Computing, pp. 1–6 (2018)
Jiang, K., Sun, Z., Liu, Y., Sui, J., Fu, C., Li, Y.: Development and application of the rail-type inspection robot used in substation rooms. In: MATEC Web of Conferences, vol. 139, p. 00210 (2017)
Bae, J., Lee, D.H.: Position control of a rail guided mover using a low-cost BLDC motor. IEEE Trans. Ind. Appl. 54(3), 2392–2399 (2018)
Ok, S., Bae, J., Lee, D.H.: Novel curving control scheme of rail-type monitoring robot system using two BLDC motors and IMU sensor. In: IEEE International Conference on Electrical Machines and Systems, pp. 515–519 (2021)
Zhang, X., Huo, X., Du, Y.: Robot control system for inspection of fully mechanized coal mining face. In: IEEE International Conference on Ubiquitous Robots, pp. 397–403 (2021)
Guan, Y., Zhu, H., Wu, W., Zhou, X., Jiang, L.: A modular biped wall-climbing robot with high mobility and manipulating function. IEEE/ASME Trans. Mechatron. 18(6), 1787–1798 (2013)
Fu, Q., Guan, Y., Liu, S., Zhu, H.: A novel modular wheel-legged mobile robot with high mobility. In: IEEE International Conference on Robotics and Biomimetics, pp. 577–582 (2021)
Zhou, X., et al.: Bibot-u6: a novel 6-DoF biped active walking robot-modeling, planning and control. Int. J. Humanoid Robot. 11(02) (2014)
Guan, Y., et al.: Climbot: a bio-inspired modular biped climbing robot-system development, climbing gaits, and experiments. J. Mech. Robot. 8(02) (2016)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Liu, S., Fu, Q., Guan, Y., Zhu, H. (2023). Development and Analysis of a Wheel-Legged Mobile Robot for Ground and Rail Inspection. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14274. Springer, Singapore. https://doi.org/10.1007/978-981-99-6501-4_50
Download citation
DOI: https://doi.org/10.1007/978-981-99-6501-4_50
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-99-6500-7
Online ISBN: 978-981-99-6501-4
eBook Packages: Computer ScienceComputer Science (R0)