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Volume 35 Issue 2
Feb.  2009
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Journal of Beijing University of Aeronautics and Astronautics  > 2009  >  35(2): 251-255.
Wang Wei, Wang Kun, Li Dazhai, et al. Basic research on configuration of climbing worm robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2009, 35(2): 251-255. (in Chinese)
Citation: Wang Wei, Wang Kun, Li Dazhai, et al. Basic research on configuration of climbing worm robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2009, 35(2): 251-255. (in Chinese)
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Basic research on configuration of climbing worm robot

  • School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

  • Received Date: 20 Jul 2008
  • Publish Date: 28 Feb 2009
    Abstract
  • Two novel module climbing caterpillar kinematics models according to the vermicular motion of the pine caterpillar and inchworm were presented. The differences of two models were indicated after the analysis of the valid gaits and climbing safety of them. Although the pine caterpillar model with all active joints introduces the redundant actuating to its locomotion but it has higher security than the inchworm model because of its more valid gaits. Two prototypes following the above two models were respectively constructed from some newly developed real adhesion and actuation modules to testify the climbing abilities of two caterpillar-like robots. The experiments show the sideslip of the suckers on the pine caterpillar robot induced by the redundant actuating and the locomotion ability of the inchworm robot on vertical wall. Besides that, an unsymmetrical gait was adopted by the inchworm robot to improve its adhesion reliability on the wall.

     

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  • [1] Zhang Houxiang, Gonzalez-Gomez J, Chen S Y,et al. A novel modular climbing caterpillar using low-frequency vibrating passive suckers IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Piscataway, NJ:IEEE,2007:4412523 [2] Wu Shanqiang, Li Mantian,Xiao Shu, et al. A wireless distributed wall climbing robotic system for reconnaissance purpose 2006 IEEE International Conference on Mechatronics and Automation.Piscataway, NJ:IEEE,2006:1308-1312 [3] Pack R T,Christopher J L Jr,Kawamura K. Rubbertuator-based structure-climbing inspection robot Proceedings-IEEE International Conference on Robotics and Automation.Piscataway, NJ:IEEE,1997,3:1869-1874 [4] Zhang Houxiang, Zhang Jianwei, Liu Rong, et al. Realization of a service robot for cleaning spherical surfaces[J].International Journal of Advanced Robotic Systems, 2005,2(1):53-58 [5] Hirose S. Biologically inspired robots (snake-like locomotor and manupultor)[M].Oxford:Oxford University Press, 1993 [6] Klaassen B,Paap K L.GMD-SNAKE2: a snake-like robot driven by wheels and a method for motion control Proceedings of IEEE International Conference on Robotics and Automation. Piscataway, NJ:IEEE,1999,4:3014-3019 [7] Ijspeert A J.A connectionist central pattern generator for the aquatic and terrestrial gaits of a simulated salamander[J].Biological Cybernetics, 2001,85(5):331-348
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