Search results

1 – 4 of 4
Per page
102050
Citations:
Loading...
Access Restricted. View access options
Article
Publication date: 21 January 2022

Xuelong Li, Lei Jiang, Xinxin Liu, Ruina Dang, Fusheng Liu, Wang Wei, Tong Zhang and Guoshun Wang

The purpose of this paper is to introduce the modeling and implementation of a novel multimode amphibious robot, which is used for patrol and beach garbage cleaning in the…

390

Abstract

Purpose

The purpose of this paper is to introduce the modeling and implementation of a novel multimode amphibious robot, which is used for patrol and beach garbage cleaning in the land–water transition zone.

Design/methodology/approach

Starting from the design idea of multimode motion, the robot innovatively integrates the guiding fin and wheel together, is driven by the same motor and can achieve multimodal motion such as land, water surface and underwater with only six actuated degrees of freedom. The robot dispenses with the transmission mechanism by directly connecting the servo motor with a reducer to the actuator, so it has the characteristics of simplifying the structure and reducing the quality. And to the best of the authors' knowledge, the design of the robot can be considered the minimal configuration of amphibious robots with the same locomotion capabilities.

Findings

Based on the classical assumptions of underwater dynamics analysis, this paper uses basic airfoil theory to analyze the dynamics of the robot’s horizontal and vertical motions and establishes its simplified dynamics model. Also, the underwater motion of the robot is simulated, and the results are in good agreement with the existing research results. Finally, to verify the feasibility of the robot, a prototype is implemented and fully evaluated by experiments. Experimental results show that the robot can reach the maximum speed of 2.5 m/s and 0.3 m/s on land and underwater, respectively, proving the effectiveness of the robot.

Originality/value

The robot has higher work efficiency with the powerful multimode motion, and its simplified structure makes it more stable while costing less.

Details

Industrial Robot: the international journal of robotics research and application, vol. 49 no. 5
Type: Research Article
ISSN: 0143-991X

Keywords

Access Restricted. View access options
Article
Publication date: 24 May 2022

Fusheng Liu, Zhihang He, Yue Qiao, Xinxin Liu, Xuelong Li, Wang Wei, Bo Su and Ruina Dang

The purpose of this paper is specifically to provide a more intelligent locomotion planning method for a hexapod robot based on trajectory optimization, which could reduce the…

206

Abstract

Purpose

The purpose of this paper is specifically to provide a more intelligent locomotion planning method for a hexapod robot based on trajectory optimization, which could reduce the complexity of locomotion design, shorten time of design and generate efficient and accurate motion.

Design/methodology/approach

The authors generated locomotion for the hexapod robot based on trajectory optimization method and it just need to specify the high-level motion requirements. Here the authors first transcribed the trajectory optimization problem to a nonlinear programming problem, in which the specified motion requirements and the dynamics with complementarity constraints were defined as the constraints, then a nonlinear solver was used to solve. The leg compliance was taken into consideration and the generated motions were deployed on the hexapod robot prototype to prove the utility of the method and, meanwhile, the influence of different environments was considered.

Findings

The generated motions were deployed on the hexapod robot and the movements were demonstrated very much in line with the planning. The new planning method does not require lots of parameter-tuning work and therefore significantly reduces the cycle for designing a new locomotion.

Originality/value

A locomotion generation method based on trajectory optimization was constructed for a 12-degree of freedom hexapod robot. The variable stiffness compliance of legs was considered to improve the accuracy of locomotion generation. And also, different from some simulation work before, the authors have designed the locomotion in three cases and constructed field tests to demonstrate its utility.

Details

Industrial Robot: the international journal of robotics research and application, vol. 49 no. 6
Type: Research Article
ISSN: 0143-991X

Keywords

Access Restricted. View access options
Article
Publication date: 18 May 2021

Yanzhang Yao, Wei Wang, Yue Qiao, Zhihang He, Fusheng Liu, Xuelong Li, Xinxin Liu, Dehua Zou and Tong Zhang

The purpose of this paper is to describe the design and development of a novel series-parallel robot, which aims to climb on the transmission tower.

685

Abstract

Purpose

The purpose of this paper is to describe the design and development of a novel series-parallel robot, which aims to climb on the transmission tower.

Design methodology approach

This study introduces a hybrid robot, which consists of adsorption and two 3-degree of freedom (DOF) translation parallel legs connected by a body linkage. The DOF of the legs ensures that the robot can move on the climbing plane, also contribute to a compact design of the robot. An electromagnet is used to adsorb onto the transmission tower, simplifying the overall structure. Based on the robot design, this paper further defines its climbing gait and adopt the 6th B-spline curves for climbing trajectory planning under different working environments.

Findings

The developed prototype that implements the design of the robot, which was used in simulation and experiments, showing that the robot is capable of climbing in the test environments with the planned climbing gait.

Originality value

The hybrid robot is able to climb under varying degrees of inclinations and cross the obstacles, and the magnetic attraction can ensure stable climbing.

Details

Industrial Robot: the international journal of robotics research and application, vol. 48 no. 4
Type: Research Article
ISSN: 0143-991X

Keywords

Access Restricted. View access options
Article
Publication date: 29 March 2019

Zhihang He, Wei Wang, Huaping Ruan, Yanzhang Yao, Xuelong Li, Dehua Zou, Yu Yan and Shaochun Jia

Overhead high-voltage transmission line (HVTL) inspection robots are used to inspect the transmission lines and/or maintain the infrastructures of a power transmission grid. One…

202

Abstract

Purpose

Overhead high-voltage transmission line (HVTL) inspection robots are used to inspect the transmission lines and/or maintain the infrastructures of a power transmission grid. One of the most serious problems is that the load on the front wheel is much larger than that on the back one when the robot travels along a sloping earth wire. Thus, ongoing operation of the inspection robot mainly depends on the front wheel motor’s ability. This paper aims to extend continuous operation time of the HVTL inspection robots.

Design/methodology/approach

By introducing a traction force model, the authors have established a dynamic model of the robot with slip. The total load is evenly distributed to both wheels. According to the traction force model, the desired wheel slip is calculated to achieve the goal of load balance. A wheel slip controller was designed based on second-order sliding-mode control methodology.

Findings

This controller accomplishes the control objective, such that the actual wheel slip tracks the desired wheel slip. A simulation and experiment verify the feasibility of the load balance control system. These results indicate that the loads on both wheels are generally equal.

Originality/value

By balancing the loads on both wheels, the inspection robot can travel along the earth wire longer, improving its efficiency.

Details

Industrial Robot: the international journal of robotics research and application, vol. 46 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

1 – 4 of 4
Per page
102050