A novel frame climbing robot: Frambot
A novel frame climbing robot: Frambot
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DOI：
10.1109/robio.2011.6181690
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发表时间：
2011-12
期刊：
影响因子：
--
通讯作者：
Wingkwong Chung;Yangsheng Xu
中科院分区：
文献类型：
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作者：
Wingkwong Chung;Yangsheng Xu
在本文中，我们提出了一种新的框架攀爬机器人，称为Frambot，其目的是在非封闭的矩形桁架上攀爬。Frambot重量仅为1.6公斤，由两个由身体连杆连接的抓手组成。对于Frambot的抓取器，它不仅提供了对桁架结构的抓取，而且还允许线性桁架攀爬运动。基于Frambot的移动性，我们提出了新的攀爬步态，其目的是通过减少在传统的桁架攀爬步态的摆动运动过程中产生的额外的角力矩，以提高桁架攀爬的稳定性。运动和动态扭矩仿真进行建议的步态分析。最后，建议的步态实现在我们的机器人原型。实验结果表明，Frambot能够用新的攀爬步态爬上非封闭桁架。
In this paper, we present a novel frame climbing robot, called Frambot which aims to climb on non-enclosable rectangular trusses. Frambot weighs only 1.6kg and consists of two grippers connected by a body linkage. For the grippers of Frambot, it provides not only the grasp on a truss structure, but also allows a linear truss climbing motion. Based on the mobility of Frambot, we propose new climbing gaits which aim to enhance the stability of truss climbing by reducing the extra angular moment generated during the swing motions in traditional truss climbing gaits. Both motion and dynamic torque simulations are performed for the analysis of the proposed gaits. Finally, the proposed gaits are realized in our robot prototype. Experimental results show that Frambot is capable in climbing non-enclosable trusses with the new climbing gaits.