TY - JOUR
T1 - A 6-DOF humanoid wall-climbing robot with flexible adsorption feet based on negative pressure suction
AU - Shi, Xiaotian
AU - Xu, Lu
AU - Xu, Haibo
AU - Jiang, Chuan
AU - Zhao, Zhibin
AU - Guo, Yanjie
AU - Chen, Xuefeng
N1 - Publisher Copyright:
© 2022 Elsevier Ltd
PY - 2022/11
Y1 - 2022/11
N2 - A wide range of dangerous and special tasks have witnessed the applications of wall-climbing robots, but they still cannot adapt well torough or sloping walls. This paper proposes a 6-DOF (degree of freedom) humanoid wall-climbing robot (HWCR) based on the principle of negative pressure suction. HWCR has the advantages of flexible adsorption feet, strong adaptability, strong anti-subversion performance, and high friction to the wall. We deduce mechanics formulas and carry out a parametric design of the foot structure so that it can meet the requirement of robot wall climbing. We use Fluent to analyze the flow field of the adsorption foot and determine the motor speed that can provide a reliable adsorption force. Using the D-H matrix to plan gait, we also design a compound cycloid-based foot trajectory to reduce the impact between the HWCR and the wall. Experiments on the uneven wall and sloping wall show that the vehicle can walk with an ideal gait, and the resistance value of the servo on each joint is much lower than the critical value, which ensures the smooth movement of the HWCR.
AB - A wide range of dangerous and special tasks have witnessed the applications of wall-climbing robots, but they still cannot adapt well torough or sloping walls. This paper proposes a 6-DOF (degree of freedom) humanoid wall-climbing robot (HWCR) based on the principle of negative pressure suction. HWCR has the advantages of flexible adsorption feet, strong adaptability, strong anti-subversion performance, and high friction to the wall. We deduce mechanics formulas and carry out a parametric design of the foot structure so that it can meet the requirement of robot wall climbing. We use Fluent to analyze the flow field of the adsorption foot and determine the motor speed that can provide a reliable adsorption force. Using the D-H matrix to plan gait, we also design a compound cycloid-based foot trajectory to reduce the impact between the HWCR and the wall. Experiments on the uneven wall and sloping wall show that the vehicle can walk with an ideal gait, and the resistance value of the servo on each joint is much lower than the critical value, which ensures the smooth movement of the HWCR.
KW - Compound cycloid-based foot trajectory
KW - Flexible adsorption feet
KW - Humanoid wall-climbing robot
KW - Negative pressure suction
UR - https://www.scopus.com/pages/publications/85137151645
U2 - 10.1016/j.mechatronics.2022.102889
DO - 10.1016/j.mechatronics.2022.102889
M3 - 文章
AN - SCOPUS:85137151645
SN - 0957-4158
VL - 87
JO - Mechatronics
JF - Mechatronics
M1 - 102889
ER -