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

fYear

2014

fDate

28-30 July 2014

Firstpage

8243

Lastpage

8248

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2014 33rd Chinese

Conference_Location

Nanjing

Type

conf

DOI

10.1109/ChiCC.2014.6896381

Filename

6896381