Title :
Dynamic analysis of a bridge-detecting robot when obstacle-surmounting
Author :
Xu Fengyu ; Wang Xingsong
Author_Institution :
Coll. of Autom., Nanjing Univ. of Posts & Telecommun., Nanjing, China
Abstract :
Complex obstacles occur on cable surface are presented to investigate the obstacle-climbing capability of the bridge-detecting robot. A climbing model supported by independent spring is then proposed and used to design the robot. The kinematic and dynamic models of the obstacle climbing of the driving wheels are further derived. In addition, the obstacle-climbing tracks and the obstacle-climbing performance are simulated to obtain the variation of the driving torque in obstacle climbing. The obtained results can provide basis for the precise motion control of the robot.
Keywords :
bridges (structures); cables (mechanical); collision avoidance; design engineering; mobile robots; robot dynamics; robot kinematics; springs (mechanical); wheels; bridge-detecting robot dynamic analysis; cable surface; complex obstacles; driving torque; driving wheels; independent spring; kinematic models; motion control; obstacle-climbing capability; obstacle-climbing performance; obstacle-climbing tracks; obstacle-surmounting; robot design; Acceleration; Force; Mobile robots; Robot kinematics; Springs; Wheels; Bridge-Detecting Robot; climbing ability; climbing model;
Conference_Titel :
Control Conference (CCC), 2014 33rd Chinese
Conference_Location :
Nanjing
DOI :
10.1109/ChiCC.2014.6896381
