Kinematic Characteristics and Workspace in Hybrid Mechanism of Multi-legged Peristaltic Climbing Robot

doi:10.3901/JME.2023.09.028

Abstract

Abstract: A multi-legged peristaltic climbing robot hybrid mechanism is proposed to solve the problem in the automatic corrosion protection of marine steel piles. According to the climbing stage, which is mixed configuration and parallel configuration, the climbing task is realized by alternating and reciprocating the movement of two groups of mechanical legs. Spiral theory and modified Grübler-Kutzbach formula are applied to analysis of robot freedom characteristics, and results show that the quantity of parallel mechanism freedom in robot is a constant one, which is not affected by the quantity of mechanical legs. And both D-H and analytical methods are used for robot kinematics model, then the position mapping relationship between the mechanical legs and the robot body is determined. The Monte Carlo algorithm is adopted to calculate the climbing workspace of hexapod, octopod and decapod robots. Based on the specification of the marine steel pile, the hexapod configuration is finally selected by considering the robot size, clamping force and other factors. The kinematic model of the robot was verified by several climbing experiments. All in all, they prove that the structure of hexapod peristaltic climbing robot is reasonable and meet the work requirements. The research results will provide a theoretical base for both the development of automatic corrosion protection equipment for marine steel piles and the practical application of hybrid mechanisms in the field of off-pipe climbing robots.

Key words: crawling-climbing robot, hybrid mechanism, spiral theory, kinetic characteristic, workspace

CLC Number:

TH112

CHEN Kaiyun, SHENG Chenyuan. Kinematic Characteristics and Workspace in Hybrid Mechanism of Multi-legged Peristaltic Climbing Robot[J]. Journal of Mechanical Engineering, 2023, 59(9): 28-39.

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