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Screw theory based motion analysis for an inchworm-like climbing robot

Published online by Cambridge University Press:  29 April 2014

Jianjun Yao ,
Shuang Gao ,
Guilin Jiang ,
Thomas L. Hill ,
Han Yu  and
Dong Shao
Jianjun Yao*
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
Shuang Gao
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
Guilin Jiang
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
Thomas L. Hill
Affiliation:
Department of Mechanical Engineering, University of Bristol, Bristol BS8 1TR, UK
Han Yu
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
Dong Shao
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
*
*Corresponding author. E-mail: travisyao@126.com
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Summary

To 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 diameters. Modularization is adopted in the robot configuration. The robot is a serial mechanism connected by four joint modules and two grippers located at the front and rear end, respectively. Each joint is driven by servos, and each gripper is controlled by a linear motor. The simplified mechanism model is established, and then is used for its kinematic analysis based on screw theory. The dynamics of the robot are also analyzed by using Lagrange equations. The simulation of the robot gait imitating the locomotion of real inchworm is finally presented.

Keywords

Bionic robotClimbing robotScrew theoryMulti degrees of freedomGripperGait
Type
Articles
Information
Robotica , Volume 33 , Issue 8 , October 2015 , pp. 1704 - 1717
Copyright
Copyright © Cambridge University Press 2014 

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