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Design and kinemics/dynamics analysis of a novel climbing robot with tri-planar limbs for remanufacturing

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Abstract

A novel climbing robot with tri-planar limbs is proposed for remanufacturing, and its kinematics and dynamics are studied systematically. First, a 3D prototype of the climbing robot with tri-planar limbs was designed and constructed; its principle of climbing wall and machining in fixed wall location are explained. Second, the formulae for solving the displacement, the velocity, acceleration, and the dynamic active forces of this climbing robot were derived. Third, a workspace during its operation in fixed location was constructed. Finally, a numerical example is given, and analytical solutions are verified by the simulation solutions.

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Authors and Affiliations

  1. College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, China

    Yi Lu & Nijia Ye

  2. Advanced Metal Forming Key Laboratory of Education Ministry & Parallel Robot Key Laboratory of Hebei, Hebei, China

    Yi Lu

  3. SNBC Zenqe Robt Co., LTD., Weihai, China

    Keke Zhou

Authors
  1. Yi Lu
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  2. Keke Zhou
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  3. Nijia Ye
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Corresponding author

Correspondence to Yi Lu.

Additional information

Recommended by Associate Editor Kyoungchul Kong

Yi Lu got his B.S. and M.S. (Engineering) at Northeast Heavy Machinery Institute in Qiqihar, China, and Dr. Sc. Tech. degree at University of Oulu, Finland, 1997. Dr. Yi Lu has been Professor of Mechanical Engineering since 1998, at Yanshan University in Qinhuangdao, P.R. China.

Keke Zhou is a Master’s student of College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, P.R. China.

Nijia Ye is a Ph.D. candidate at College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, P.R. China.

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Lu, Y., Zhou, K. & Ye, N. Design and kinemics/dynamics analysis of a novel climbing robot with tri-planar limbs for remanufacturing. J Mech Sci Technol 31, 1427–1436 (2017). https://doi.org/10.1007/s12206-017-0243-9

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  • DOI: https://doi.org/10.1007/s12206-017-0243-9

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