Skip to main content
SpringerLink
Log in

Mobility properties analyses of a wall climbing hexapod robot

  • Published:
Journal of Mechanical Science and Technology Aims and scope Submit manuscript

Abstract

In this paper, we investigate the Degree of freedom (DOF), workspace and singularity of a wall climbing hexapod robot. The robot has two typical working modes, which are the six or three legs attaching on the wall, so robot can be regarded as 6SRRR or 3SRRR parallel mechanism, respectively. First, the DOF of the robot is analyzed by the screw theory. The result indicates that two configurations of the robot possess 6-DOF, and the screw theory makes the calculation of the DOF become extremely simple. Moreover, the workspace of the robot body is studied with constraint equations, which obtains the influence of structural parameters on workspace. After that, a new simple Jacobian matrix is proposed to analyze the singularity, and obtain the singular configurations of the robot, which greatly simplifies the calculation of Jacobian matrix of the robot. Finally, by experiments to verify that the singularity analysis method is correct. The singularity analysis of this paper could be applied for effective control of the robot to avoid singular configurations.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. K. Nagaya, T. Yoshino, M. Katayama, I. Murakami and Y. Ando, Wireless piping inspection vehicle using magnetic adsorption force, IEEE/ASME Transaction on Mechatronics, 17 (3) (2012) 472–479.

    Article  Google Scholar 

  2. E. Sato, S. Iki, K. Yamanishi, H. Horibe and A. Matsumoto, Dismantlable adhesion properties of reactive acrylic copolymers resulting from cross-linking and gas evolution, The Journal of Adhesion, 7 (2016) 1–12.

    Google Scholar 

  3. G. Lee, H. Kim, K. Seo, J. Kim, M. Sitti and T. Seo, Series of multilinked caterpillar track-type climbing robots, Journal of Field Robotics, 33 (6) (2016) 737–750.

    Article  Google Scholar 

  4. J. Jiang, Y. Zhang and S. Zhang, Implementation of glasscurtain-wall cleaning robot driven by double flexible rope, Industrial Robot: An International Journal, 41 (2014) 429–438.

    Article  Google Scholar 

  5. Y. Liu, H. Kim and T. Seo, Anyclimb: A new wall-climbing robotic platform for various curvatures, IEEE/ASME Transaction on Mechatronics, 21 (3) (2016) 1812–1821.

    Article  Google Scholar 

  6. Y. Liu, S. Sun, X. Wu and T. Mei, A wheeled wall-climbing robot with bio-inspired spine mechanisms, Journal of Bionic Engineering, 12 (1) (2015) 17–28.

    Article  Google Scholar 

  7. F. Xu, J. Shen, J. Hu and G. Jiang, A rough concrete wallclimbing robot based on grasping claws: Mechanical design, analysis and laboratory experiments, International Journal of Advanced Robotic Systems, 10 (2016) 1–10.

    Google Scholar 

  8. S. Fujii et al., Ladder climbing control for limb mechanism robot “ASTERISK”, IEEE International Conference on Robotics and Automation, Pasadena, USA (2008) 3052–3057.

    Google Scholar 

  9. Z. Wang, X. Ding, A. Rovetta and A. Giusti, Mobility analysis of the typical gait of a radial symmetrical six-legged robot, Mechatronics, 21 (2011) 1133–1146.

    Article  Google Scholar 

  10. M. C. García-López, E. Gorrostieta-Hurtado, E. Vargas-Soto, J. M. Ramos-Arreguín, A. Sotomayor–Olmedo and J. C. Moya Morales, Kinematic analysis for trajectory generation in one leg of a hexapod robot, Procedia Technology, 3 (2012) 342–350.

    Article  Google Scholar 

  11. H. Zhang, Y. Liu, J. Zhao, J. Chen and J. Yan, Development of a bionic hexapod robot for walking on unstructured terrain, Journal of Bionic Engineering, 11 (2014) 176–187.

    Article  Google Scholar 

  12. Z. Deng, Y. Liu, L. Ding, H. Gao, H. Yu and Z. Liu, Motion planning and simulation verification of a hydraulic hexapod robot based on reducing energy/flow consumption, Journal of Mechanical Science and Technology, 29 (10) (2015) 4427–4436.

    Article  Google Scholar 

  13. D. Gan, J. Dai and D. G. Caldwell, Constraint based limb synthesis and mobility change aimed mechanism construction, ASME/Journal of Mechanical Design, 133 (5) (2011) 051001_1-051001_9.

    Article  Google Scholar 

  14. X. Kong and C. M. Gosselin, Type synthesis of 3DOF spherical parallel manipulators based on screw theory, ASME/Journal of Mechanical Design, 126 (2004) 101–108.

    Article  Google Scholar 

  15. J. Dai, Z. Huang and H. Lipkin, Mobility of overconstrained parallel mechanisms, ASME/Journal of Mechanical Design, 128 (2006) 220–229.

    Article  Google Scholar 

  16. W. Bu, S. Yan, J Chen and X. An, Mobility analysis for parallel manipulators based on intersection of screw manifolds, Journal of Mechanical Science and Technology, 30 (9) (2016) 4345–4352.

    Article  Google Scholar 

  17. J. P. Merlet, Direct kinematics and assembly modes of parallel manipulators, The International Journal of Robotics Research, 2 (1992) 150–162.

    Article  Google Scholar 

  18. Z. Wang et al., A study on workspace, boundary workspace analysis and workspace positioning for parallel machine tools, Mechanism and Machine Theory, 5 (2001) 605–622.

    MATH  Google Scholar 

  19. Z. Gao, G. Wei and J. Dai, Inverse kinematics and workspace analysis of the metamorphic hand, Proc IMechE Part C: J. Mechanical Engineering Science (2014) 1–11.

    Google Scholar 

  20. M. Agheli and S. S. Nestinger, Closed-form solution for constant-orientation workspace and workspace-based design of radially symmetric hexapod robots, Journal of Mechanisms and Robotics, 6 (8) (2014) Doi: 10.1115/1.4026827.

    Google Scholar 

  21. D. Szep, S. Stan and V. Csibi, Design, workspace analysis, and inverse kinematics problem of delta parallel robot, Mechanika, 17 (3) (2011) 296–299.

    Google Scholar 

  22. R. Maldonado-Echegoyen, E. Castillo-Castaneda and M. A. Garcia-Murillo, Kinematic and deformation analyses of a translational parallel robot for drilling tasks, Journal of Mechanical Science and Technology, 29 (10) (2015) 4437–4443.

    Article  Google Scholar 

  23. C. Gosselin, Determination of the workspace of 6 DOF parallel manipulators, Journal of Mechanical Design, 3 (1990) 331–336.

    Article  Google Scholar 

  24. J. P. Merlet, Singular configurations of parallel manipulator and grassman geometry, The International Journal of Robotics Research, 5 (1989) 45–56.

    Article  Google Scholar 

  25. J. Gallardo-Alvarado et al., Kinematics of an asymmetrical three legged parallel manipulator by means of the screw theory, Mechanism and Machine Theory, 45 (2010) 1013–1023.

    Article  MATH  Google Scholar 

  26. D. Gan et al., Forward displacement analysis of a new 1CCC-5SPS Parallel mechanism using Grobner theory, Proc IMechE Part C: J. Mechanical Engineering Science, 223 (5) (2009) 1233–1241.

    Article  Google Scholar 

  27. S. Zarkandi, Kinematics and singularity analysis of a parallel manipulator with three rotational and one translational DOFs, Mech. Based Des Struct. Mach., 39 (2011) 392–407.

    Article  Google Scholar 

  28. J. Zhao, Y. Fu, K. Zhou and Z. Feng, Mobility properties of a Schoenflies-type parallel manipulator, Robotics and Computer Integrated Manufacturing, 22 (2006) 124–133.

    Article  Google Scholar 

  29. D. Gan, J. Dai and D. Caldwell, Constraint-screw system based synthesis of limb arrangement of the 3-PUP parallel mechanism, J. Lenarcic and M. M. Stanisic (eds), Advances in robot kinematics: motion in man and machine, Dordrecht: Springer, 8 (2010) 485–492.

    Article  Google Scholar 

  30. K. Xu and X. Ding, Typical gait analysis of a six-legged robot in the context of metamorphic mechanism theory, Chinese Journal of Mechanical Engineering, 4 (26) (2013) 771–783.

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Control Science and Engineering, Tongji University, Shanghai, 201804, China

    Bin He, Shoulin Xu & Yanmin Zhou

  2. School of Mechanical Engineering, Tongji University, Shanghai, 201804, China

    Zhipeng Wang

Authors
  1. Bin He
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Shoulin Xu
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Yanmin Zhou
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Zhipeng Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Bin He.

Additional information

Recommended by Associate Editor Baek-Kyu Cho

Bin He received the B.S. degree in engineering machinery from Jilin University, Changchun, China, in 1996, and the Ph.D. degree in mechanical and electronic control engineering from Zhejiang University, Hangzhou, China, in 2001. Between 2001 and 2003, he held postdoctoral research appointments with The State Key Labof Fluid Power Transmission and Control, Zhejiang University. He is currently a Professor in the Department of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University, Shanghai, China. His current research interests include intelligent robot control, neural networks, biomimetic microrobots, image processing and fusion, wireless communication, and wireless networks. Dr. He is an Associate Editor of Neurocomputing.

Shoulin Xu is currently working toward the Ph.D. degree in the Deparment of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University. His research interests include mechanism of parallel manipulator, dynamics and control of robotic systems.

Yanmin Zhou is currently Assistant Professor in the Deparment of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University. Her currently research interests include bionics, design and control of intelligent robot.

Zhipeng Wang received his Ph.D. degree from Tongji University in 2015. He is currently a post-doctoral in the School of Mechanical Engineering, Tongji University. His currently research interests include design, dynamics and control of robot.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

He, B., Xu, S., Zhou, Y. et al. Mobility properties analyses of a wall climbing hexapod robot. J Mech Sci Technol 32, 1333–1344 (2018). https://doi.org/10.1007/s12206-018-0237-2

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12206-018-0237-2

Keywords

Search

Navigation