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Modelling, simulation and experimental validation of wheel and arm locomotion based wall-climbing robot

Published online by Cambridge University Press:  18 March 2022

Ravindra Singh Bisht Open the ORCID record for Ravindra Singh Bisht [Opens in a new window] ,
Pushparaj Mani Pathak Open the ORCID record for Pushparaj Mani Pathak [Opens in a new window]  and
Soraj Kumar Panigrahi Open the ORCID record for Soraj Kumar Panigrahi [Opens in a new window]
Ravindra Singh Bisht
Affiliation:
Robotics and Control Laboratory, Mechanical & Industrial Engineering Department, Indian Institute of Technology, Roorkee-247667, India Acoustics, Instrumentation & Mechanical Systems Group, CSIR-Central Building Research Institute, Roorkee-247667, India
Pushparaj Mani Pathak*
Affiliation:
Robotics and Control Laboratory, Mechanical & Industrial Engineering Department, Indian Institute of Technology, Roorkee-247667, India
Soraj Kumar Panigrahi
Affiliation:
Acoustics, Instrumentation & Mechanical Systems Group, CSIR-Central Building Research Institute, Roorkee-247667, India
*
*Corresponding author. E-mail: pushparaj.pathak@me.iitr.ac.in
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Abstract

This article presents modelling, simulation, and development of a wall-climbing robot based on coupled wheel and arm-type locomotion mechanism. The developed robot consists of two mobile modules connected with a robot arm mechanism. The actuation of the robot arm is inspired by inchworm locomotion, particularly during wall-to-wall transition, obstacle avoidance, and uneven surface locomotion. Easiness in the interchanging of wheel to arm and vice versa makes the robot more effective compared to previously developed wall-climbing robots. The kinematic and dynamic model for the proposed coupled wheel and arm locomotion concept has been established. A combination of particle swarm optimization (PSO) and proportional, integral, derivatives (PID) feedback control algorithm has been developed using MATLAB to simulate the different cases of robot motions. The developed prototype of the wall-climbing robot is used to verify the coupled wheel and arm locomotion concept in various wall climbing scenarios. The simulation and experimental findings show good comparisons and validate the model-based design of the wall-climbing robot.

Keywords

wheel and arm locomotioncoupled dynamic modellingtrajectory trackingmotion simulationinchworm locomotionexperimental trials
Type
Research Article
Information
Robotica , Volume 41 , Issue 2 , February 2023 , pp. 433 - 469
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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