Abstract
In this paper, we investigate the Degree of freedom (DOF), workspace and singularity of a wall climbing hexapod robot. The robot has two typical working modes, which are the six or three legs attaching on the wall, so robot can be regarded as 6SRRR or 3SRRR parallel mechanism, respectively. First, the DOF of the robot is analyzed by the screw theory. The result indicates that two configurations of the robot possess 6-DOF, and the screw theory makes the calculation of the DOF become extremely simple. Moreover, the workspace of the robot body is studied with constraint equations, which obtains the influence of structural parameters on workspace. After that, a new simple Jacobian matrix is proposed to analyze the singularity, and obtain the singular configurations of the robot, which greatly simplifies the calculation of Jacobian matrix of the robot. Finally, by experiments to verify that the singularity analysis method is correct. The singularity analysis of this paper could be applied for effective control of the robot to avoid singular configurations.
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Recommended by Associate Editor Baek-Kyu Cho
Bin He received the B.S. degree in engineering machinery from Jilin University, Changchun, China, in 1996, and the Ph.D. degree in mechanical and electronic control engineering from Zhejiang University, Hangzhou, China, in 2001. Between 2001 and 2003, he held postdoctoral research appointments with The State Key Labof Fluid Power Transmission and Control, Zhejiang University. He is currently a Professor in the Department of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University, Shanghai, China. His current research interests include intelligent robot control, neural networks, biomimetic microrobots, image processing and fusion, wireless communication, and wireless networks. Dr. He is an Associate Editor of Neurocomputing.
Shoulin Xu is currently working toward the Ph.D. degree in the Deparment of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University. His research interests include mechanism of parallel manipulator, dynamics and control of robotic systems.
Yanmin Zhou is currently Assistant Professor in the Deparment of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University. Her currently research interests include bionics, design and control of intelligent robot.
Zhipeng Wang received his Ph.D. degree from Tongji University in 2015. He is currently a post-doctoral in the School of Mechanical Engineering, Tongji University. His currently research interests include design, dynamics and control of robot.
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He, B., Xu, S., Zhou, Y. et al. Mobility properties analyses of a wall climbing hexapod robot. J Mech Sci Technol 32, 1333–1344 (2018). https://doi.org/10.1007/s12206-018-0237-2
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DOI: https://doi.org/10.1007/s12206-018-0237-2