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Walking model and planning algorithm of the over-obstacle pipe climbing robot

Dengbiao Liu

Dengbiao Liu

College of Intelligent Equipment, Shandong University of Science and TechnologyTai-an, China
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Liu, Dengbiao
, 
Cuiyun Li

Cuiyun Li

College of Intelligent Equipment, Shandong University of Science and TechnologyTai-an, China
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Li, Cuiyun
 und 
Peisi Zhong

Peisi Zhong

College of Mechanical and Electronic Engineering, Shandong University of Science and TechnologyQingdao China, China
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Zhong, Peisi
  
25. Mai 2021
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Online veröffentlicht: 25. Mai 2021
Seitenbereich: 243 - 262
Eingereicht: 25. Okt. 2020
Akzeptiert: 26. Feb. 2021
DOI: https://doi.org/10.2478/amns.2021.2.00012
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© 2021 Dengbiao Liu et al., published by Sciendo
This work is licensed under the Creative Commons Attribution 4.0 International License.

Fig. 1

Configuration of the out-pipe climbing robot. 1 - V-shaped drive assembly on part B; 2 - a leg of part B; 3,10 - guiding wheels of part B; 4 - hinged shaft of parts A and B; 5, 9 - the guiding wheel of part A; 6 - the left leg; 7 - the right leg; 8 - inverted V-shaped drive assembly of part A; O - the intersection of the hinged centre of parts A and B and the left and right symmetrical plane of the whole machine.
Configuration of the out-pipe climbing robot. 1 - V-shaped drive assembly on part B; 2 - a leg of part B; 3,10 - guiding wheels of part B; 4 - hinged shaft of parts A and B; 5, 9 - the guiding wheel of part A; 6 - the left leg; 7 - the right leg; 8 - inverted V-shaped drive assembly of part A; O - the intersection of the hinged centre of parts A and B and the left and right symmetrical plane of the whole machine.

Fig. 2

Expanded layout of the driving wheel position on the pipe.
Expanded layout of the driving wheel position on the pipe.

Fig. 3

Rotation of driving wheels around the pipe axis.
Rotation of driving wheels around the pipe axis.

Fig. 4

The driving wheels walk up or down along the axis.
The driving wheels walk up or down along the axis.

Fig. 5

Driving wheels walk along the double inverted V-direction.
Driving wheels walk along the double inverted V-direction.

Fig. 6

Paths of the driving wheels along the double V-direction.
Paths of the driving wheels along the double V-direction.

Fig. 7

Velocity vectors of driving wheels walking along the V- and inverted V-directions.
Velocity vectors of driving wheels walking along the V- and inverted V-directions.

Fig. 8

Velocity vectors of driving wheels walk along the inverted V- and V-directions.
Velocity vectors of driving wheels walk along the inverted V- and V-directions.

Fig. 9

Gait analysis of the over-obstacle model.
Gait analysis of the over-obstacle model.

Fig. 10

Motion planning for the straight pipe.
Motion planning for the straight pipe.

Fig. 11

Motion planning for the ‘+’ pipe.
Motion planning for the ‘+’ pipe.

Fig. 12

Motion planning for T pipe.
Motion planning for T pipe.

Fig. 13

Motion planning for the L pipe.
Motion planning for the L pipe.

Fig. 14

Motion planning for ‘+’ space pipe.
Motion planning for ‘+’ space pipe.

Fig. 15

The planning principle over the obstacle on the coaxial pipeline of space ‘+’.
The planning principle over the obstacle on the coaxial pipeline of space ‘+’.

Definition of parameters_

R Outer radius of the pipe, m
r Minimum distance from the coordinate origin O1 of the robot body to the pipe axis x,y,z,r > R
a Initial movement distance from the origin O on the x-axis, m
b Initial movement distance from the origin O on the y-axis, m
c Initial movement distance from the origin O on the z-axis, m
α The initial position angle (rad) around the z-axis, whose direction starts with the direction of the x-axis and rotates according to the right-hand rule, and the angle interval is [0,2π].
β The initial position angle (rad) around the y-axis, whose direction starts with the direction of the z-axis and rotates according to the right-hand rule, and the angle interval is [0,2π].
θ The initial position angle (rad) around the x-axis, whose direction starts with the direction of the y-axis and rotates according to the right-hand rule, and the angle interval, is [0,2π]
A1 Positive trajectory of the robot coordinate origin
B1 Inverse trajectory of the robot coordinate origin.
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Englisch
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Biologie, Biologie, andere, Mathematik, Angewandte Mathematik, Mathematik, Allgemeines, Physik, Physik, andere
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