In this paper,a new tracked wall climbing robot with permanent magnetic units is designed,and the tension degree of robot’s tracks is found to have a significant impact on the robot’s adsorption performance.This tra...In this paper,a new tracked wall climbing robot with permanent magnetic units is designed,and the tension degree of robot’s tracks is found to have a significant impact on the robot’s adsorption performance.This tracked wall climbing robot is a remotely controlled robot.All the control devices can be installed on the robot body.All the permanent magnetic units are arranged on the light track.In order to illustrate the relationship between the tension degree and the adsorption performance,when absorbed on the vertical surface and 180⁃degree inverted surface,the static force analysis of the robot is presented.Finally,experiments were demonstrated to prove that higher tension degree of tracks can make adsorption performance better.展开更多
Continuum manipulators have important applications in the human–machine interaction fields.The kinematics,dynamics,and control issues of the continuum manipulators are rather different from a conventional rigid-link ...Continuum manipulators have important applications in the human–machine interaction fields.The kinematics,dynamics,and control issues of the continuum manipulators are rather different from a conventional rigid-link manipulator.By the aid of Lie groups theory and exponential coordinate representations,the kinematics of the continuum manipulators with piecewise constant curvatures and actuated by tendons is investigated in this paper.On the basis of differential kinematics analysis,the complete Jacobian of the continuum manipulators is derived analytically,and then a new motion planning approach,named as“dynamic coordination method”is presented for the multisegments continuum manipulators,which is a class of superredundant manipulators.The novel motion planning approach is featured by some appealing properties,and the feasibility of the modeling and the motion planning method is demonstrated by some numerical simulations.展开更多
基金the Beijing Natural Science Foundation(Grant No.3194047)the Joint Program of Beijing Municipal Foundation and Education Commission(Grant No.KZ202010009015)the National Natural Science Foundation of China(Grant No.51775002).
文摘In this paper,a new tracked wall climbing robot with permanent magnetic units is designed,and the tension degree of robot’s tracks is found to have a significant impact on the robot’s adsorption performance.This tracked wall climbing robot is a remotely controlled robot.All the control devices can be installed on the robot body.All the permanent magnetic units are arranged on the light track.In order to illustrate the relationship between the tension degree and the adsorption performance,when absorbed on the vertical surface and 180⁃degree inverted surface,the static force analysis of the robot is presented.Finally,experiments were demonstrated to prove that higher tension degree of tracks can make adsorption performance better.
基金supported by the National Key R&D Program of China under Grant 2019YFB1309603the Natural Science Foundation of China under Grants 51775002 and 11702294+2 种基金the Natural Science Foundation of Beijing under Grants L172001,4204097,3172009,and 3194047the Joint Program of Beijing Municipal Foundation and Education Commission under Grant KZ202010009015the Scientific Research Foundation of North China University of Technology.
文摘Continuum manipulators have important applications in the human–machine interaction fields.The kinematics,dynamics,and control issues of the continuum manipulators are rather different from a conventional rigid-link manipulator.By the aid of Lie groups theory and exponential coordinate representations,the kinematics of the continuum manipulators with piecewise constant curvatures and actuated by tendons is investigated in this paper.On the basis of differential kinematics analysis,the complete Jacobian of the continuum manipulators is derived analytically,and then a new motion planning approach,named as“dynamic coordination method”is presented for the multisegments continuum manipulators,which is a class of superredundant manipulators.The novel motion planning approach is featured by some appealing properties,and the feasibility of the modeling and the motion planning method is demonstrated by some numerical simulations.
