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Research on Kinematics and Stability of a Bionic Wall-Climbing Hexapod Robot
Wall-climbing hexapod robot as a bionic robot has become a focus for extensive research, due to a wide range of practical applications. The most contribution of this paper is to analyze the kinematics and stability of a wall-climbing hexapod robot, so as to provide a theoretical basis for the stable...
Autores principales: | , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Hindawi
2019
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6466939/ https://www.ncbi.nlm.nih.gov/pubmed/31065293 http://dx.doi.org/10.1155/2019/6146214 |
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author | Xu, Shoulin He, Bin Hu, Heming |
author_facet | Xu, Shoulin He, Bin Hu, Heming |
author_sort | Xu, Shoulin |
collection | PubMed |
description | Wall-climbing hexapod robot as a bionic robot has become a focus for extensive research, due to a wide range of practical applications. The most contribution of this paper is to analyze the kinematics and stability of a wall-climbing hexapod robot, so as to provide a theoretical basis for the stable walking and control of the robot on the wall. Firstly, the kinematics model of the wall-climbing hexapod robot is established based on the D-H method. Then, in order to keep the robot from tipping over, the stability of the wall-climbing hexapod robot is analyzed in depth, obtaining the critical condition which makes the robot to tip over. Afterward, the kinematics simulation of the wall-climbing hexapod robot is operated to analyze motion performances. Finally, the experiments are used to validate the proposed kinematics model and stability. The experimental results show that the kinematics model and stability condition of the wall-climbing hexapod robot are correct. |
format | Online Article Text |
id | pubmed-6466939 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2019 |
publisher | Hindawi |
record_format | MEDLINE/PubMed |
spelling | pubmed-64669392019-05-07 Research on Kinematics and Stability of a Bionic Wall-Climbing Hexapod Robot Xu, Shoulin He, Bin Hu, Heming Appl Bionics Biomech Research Article Wall-climbing hexapod robot as a bionic robot has become a focus for extensive research, due to a wide range of practical applications. The most contribution of this paper is to analyze the kinematics and stability of a wall-climbing hexapod robot, so as to provide a theoretical basis for the stable walking and control of the robot on the wall. Firstly, the kinematics model of the wall-climbing hexapod robot is established based on the D-H method. Then, in order to keep the robot from tipping over, the stability of the wall-climbing hexapod robot is analyzed in depth, obtaining the critical condition which makes the robot to tip over. Afterward, the kinematics simulation of the wall-climbing hexapod robot is operated to analyze motion performances. Finally, the experiments are used to validate the proposed kinematics model and stability. The experimental results show that the kinematics model and stability condition of the wall-climbing hexapod robot are correct. Hindawi 2019-04-01 /pmc/articles/PMC6466939/ /pubmed/31065293 http://dx.doi.org/10.1155/2019/6146214 Text en Copyright © 2019 Shoulin Xu et al. http://creativecommons.org/licenses/by/4.0/ This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. |
spellingShingle | Research Article Xu, Shoulin He, Bin Hu, Heming Research on Kinematics and Stability of a Bionic Wall-Climbing Hexapod Robot |
title | Research on Kinematics and Stability of a Bionic Wall-Climbing Hexapod Robot |
title_full | Research on Kinematics and Stability of a Bionic Wall-Climbing Hexapod Robot |
title_fullStr | Research on Kinematics and Stability of a Bionic Wall-Climbing Hexapod Robot |
title_full_unstemmed | Research on Kinematics and Stability of a Bionic Wall-Climbing Hexapod Robot |
title_short | Research on Kinematics and Stability of a Bionic Wall-Climbing Hexapod Robot |
title_sort | research on kinematics and stability of a bionic wall-climbing hexapod robot |
topic | Research Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6466939/ https://www.ncbi.nlm.nih.gov/pubmed/31065293 http://dx.doi.org/10.1155/2019/6146214 |
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