Structure Design and Mobility Analysis of a Climbing Robot

doi:10.1088/1742-6596/1550/2/022015

	Structure Design and Mobility Analysis of a Climbing Robot
	Li,Xiaohu 1,2; Cao,Hongxin 1; Feng,Song 1; Xie,Chao 1
刊名	Journal of Physics: Conference Series
	2020-05-01
卷号	1550
ISSN号	1742-6588
DOI	10.1088/1742-6596/1550/2/022015
英文摘要	Abstract RiSE and LEMUR IIB have good climbing ability. Inspired by these two robots, a new climbing robot with simplified motion mode and strong load capacity is proposed. In this paper, the structure of the robot is introduced detailedly. Through the dynamic analysis of its leg and body, the torque of the traction and swing motor under various driving modes are obtained. Static analysis of the robot’s claw is also carried out during the climbing process. Meanwhile, the equivalent tangential force and normal force required for the claw attached to the wall are described. The results indicate that the robot has high mobility and can successfully realize the climbing movement.
语种	英语
出版者	IOP Publishing
WOS记录号	IOP:JPCS_1550_2_022015
内容类型	期刊论文
源URL	[http://ir.hfcas.ac.cn:8080/handle/334002/127711]
专题	中国科学院合肥物质科学研究院
作者单位	1.Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China 2.Jiangsu University of Science and Technology, Zhenjiang, China
推荐引用方式 GB/T 7714	Li,Xiaohu,Cao,Hongxin,Feng,Song,et al. Structure Design and Mobility Analysis of a Climbing Robot[J]. Journal of Physics: Conference Series,2020,1550.
APA	Li,Xiaohu,Cao,Hongxin,Feng,Song,&Xie,Chao.(2020).Structure Design and Mobility Analysis of a Climbing Robot.Journal of Physics: Conference Series,1550.
MLA	Li,Xiaohu,et al."Structure Design and Mobility Analysis of a Climbing Robot".Journal of Physics: Conference Series 1550(2020).