Twist-based Crouching Motion for Multi-Legged Inspection Robot

M. Phlernjai, Pran Piyathassrikul, P. Ratsamee
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Abstract

The monitoring and inspection of the condition of buildings, towers, or large chemical tanks have been dangerous for workers. Also, these processes can also be very costly. A wall climbing multi-legged robot can be used to tackle the problem stated. The robot has to alternatively climb and crouch to move the inspection probe close to the wall surface. The typical wall-sticking crouching motion of hexapods could not do this without an additional actuator at the foot base. This paper proposes a new crouching mechanism using the twisting action of the robot legs. The mathematical model of the twisting crouch is introduced and A prototype test has been done to confirm the validity of the proposed concept.
基于扭曲的多足检测机器人蹲伏运动
监视和检查建筑物、塔或大型化学品储罐的状况对工人来说是危险的。此外,这些过程也可能非常昂贵。一个爬墙的多腿机器人可以用来解决上述问题。机器人必须交替攀爬和蹲伏来移动检测探头靠近墙面。如果脚底没有额外的驱动器,六足机器人典型的贴壁蹲伏运动就无法做到这一点。本文提出了一种利用机器人腿的扭转作用的新型蹲伏机构。介绍了扭转蹲伏的数学模型,并进行了样机试验,验证了所提概念的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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