Abstract
Slope climbing capacity of a close chain five-bow-shaped-bar linkage and minimum friction coefficient during climbing are analyzed. First, the analysis model of slope climbing for the closed linkage is established, and the CG position kinematics model on slope is built with homogeneous transformation matrix. Secondly, the static analysis model is established to get the active joint angle along with a certain slope under the geometrical constraint of the slope, and the graph between the maximum slope and roll angle is obtained by using numerical method. Thirdly, the minimum static friction coefficients curve is figured out by the force relationship. Then, motion planning is conducted by the constant CG offset for uniform climbing, thereby solving the active joint trajectory. Finally, slope climbing experiments are carried out to verify the correctness of analysis results.
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Acknowledgments
The paper writing is supported by the National Natural Science Foundation of China (Grant no. 51275363, 11072181).
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Yu, Lq., Mei, Yy., Wang, Yj., Wu, Cl. (2017). Research on Slope Climbing Capacity of a Close Chain Five-Bow-Shaped-Bar Linkage. In: Zhang, X., Wang, N., Huang, Y. (eds) Mechanism and Machine Science . ASIAN MMS CCMMS 2016 2016. Lecture Notes in Electrical Engineering, vol 408. Springer, Singapore. https://doi.org/10.1007/978-981-10-2875-5_108
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DOI: https://doi.org/10.1007/978-981-10-2875-5_108
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