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Mechatronics design of self-adaptive under-actuated climbing robot for pole climbing and ground moving

Published online by Cambridge University Press:  23 November 2021

Yuwang Liu Open the ORCID record for Yuwang Liu [Opens in a new window] ,
Yi Yu ,
Dongqi Wang ,
Sheng Yang  and
Jinguo Liu
Yuwang Liu*
Affiliation:
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, P.R China Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, P.R China
Yi Yu
Affiliation:
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, P.R China Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, P.R China
Dongqi Wang
Affiliation:
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, P.R China Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, P.R China
Sheng Yang
Affiliation:
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, P.R China Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, P.R China
Jinguo Liu
Affiliation:
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, P.R China Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, P.R China
*
*Corresponding author. E-mail: liuyuwang@sia.cn
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Abstract

Climbing robots have broad application prospects in aerospace equipment inspection, forest farm monitoring, and pipeline maintenance. Different types of climbing robots in existing research have different advantages. However, the self-adaptability and stability have not been achieved at the same time. In order to realize the self-adaptability of holding and climbing stability, this work proposes a new type of climbing robot under the premise of minimizing the driving source. The robot realizes stable multifinger holding and wheeled movement through two motors. At the same time, the robot has two different working modes, namely pole climbing and ground crawling. The holding adaptability and climbing stability are realized by underactuated holding mechanism and model reference adaptive controller (MRAC). On the basis of model design and parameter analysis, a prototype of the climbing robot is built. Experiments prove that the proposed climbing robot has the ability to stably climb poles of different shapes. The holding and climbing stability, self-adaptability, and climbing and crawling speed of the proposed climbing robot are verified by experiments.

Keywords

underactuated mechanismclimbing robotself-adaptive holdingmodel reference adaptive controlground moving
Type
Research Article
Information
Robotica , Volume 40 , Issue 7 , July 2022 , pp. 2255 - 2274
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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