Mechanical Design, Planning, and Control for Legged Robots in Distillation Columns

IF 1.9 4区工程技术 Q3 ENGINEERING, MECHANICAL

Journal of Computational and Nonlinear Dynamics Pub Date : 2023-01-11 DOI:10.1115/1.4056659

T. Molnár, Katherine Tighe, Wyatt Ubellacker, A. Kalantari, A. Ames

引用次数: 0

Abstract

Dexterous robots have great potential to execute industrial tasks that are not suited to humans. In this work, a novel robotic mobility platform is proposed for use in the chemical industry to enable autonomous distillation column inspection — a tedious and dangerous task for humans. A roller arm mechanism is designed for a quadrupedal robot that enables moving across the distillation column. Required dynamic behaviors are generated with full-body motion planning and low-level control. The holistic process of mechanical design, planning, and control leads to desired behavior, as demonstrated by high-fidelity simulations. This marks a key step towards operating legged robots inside distillation columns.

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精馏塔腿式机器人的机械设计、规划和控制

灵巧的机器人在执行不适合人类的工业任务方面具有巨大的潜力。在这项工作中，提出了一种新的机器人移动平台，用于化学工业，以实现自动精馏塔检查-对人类来说是一项繁琐而危险的任务。为四足机器人设计了一个滚轮臂机构，使其能够在精馏塔上移动。通过全身运动规划和底层控制生成所需的动态行为。机械设计、规划和控制的整体过程导致期望的行为，正如高保真仿真所证明的那样。这标志着在蒸馏塔内操作腿式机器人的关键一步。

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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来源期刊

Journal of Computational and Nonlinear Dynamics 工程技术-工程：机械

CiteScore

4.00

自引率

10.00%

发文量

审稿时长

6-12 weeks

期刊介绍： The purpose of the Journal of Computational and Nonlinear Dynamics is to provide a medium for rapid dissemination of original research results in theoretical as well as applied computational and nonlinear dynamics. The journal serves as a forum for the exchange of new ideas and applications in computational, rigid and flexible multi-body system dynamics and all aspects (analytical, numerical, and experimental) of dynamics associated with nonlinear systems. The broad scope of the journal encompasses all computational and nonlinear problems occurring in aeronautical, biological, electrical, mechanical, physical, and structural systems.