Modelling, simulation and experimental validation of wheel and arm locomotion based wall-climbing robot

Autor:	Ravindra Singh Bisht, Pushparaj Mani Pathak, Soraj Kumar Panigrahi
Rok vydání:	2022
Předmět:	Control and Optimization Control and Systems Engineering General Mathematics Mechanical Engineering Modeling and Simulation GeneralLiterature_MISCELLANEOUS Software ComputingMethodologies_COMPUTERGRAPHICS Computer Science Applications
Zdroj:	Robotica. 41:433-469
ISSN:	1469-8668 0263-5747
DOI:	10.1017/s026357472200025x
Popis:	This article presents modelling, simulation, and development of a wall-climbing robot based on coupled wheel and arm-type locomotion mechanism. The developed robot consists of two mobile modules connected with a robot arm mechanism. The actuation of the robot arm is inspired by inchworm locomotion, particularly during wall-to-wall transition, obstacle avoidance, and uneven surface locomotion. Easiness in the interchanging of wheel to arm and vice versa makes the robot more effective compared to previously developed wall-climbing robots. The kinematic and dynamic model for the proposed coupled wheel and arm locomotion concept has been established. A combination of particle swarm optimization (PSO) and proportional, integral, derivatives (PID) feedback control algorithm has been developed using MATLAB to simulate the different cases of robot motions. The developed prototype of the wall-climbing robot is used to verify the coupled wheel and arm locomotion concept in various wall climbing scenarios. The simulation and experimental findings show good comparisons and validate the model-based design of the wall-climbing robot.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::a5c341fc5e80fb08c29243f5cee74444 https://doi.org/10.1017/s026357472200025x Zobrazit plný text záznamu