Authors:
Tarun Kumar Hazra
and
Nirmal Baran Hui
Affiliation:
National Institute of Technology, India
Keyword(s):
Climbing Robots, Tripod Robot, Kinematics analysis, Dynamic Analysis, Trajectory Generation.
Related
Ontology
Subjects/Areas/Topics:
Artificial Intelligence
;
Formal Methods
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Planning and Scheduling
;
Robot Design, Development and Control
;
Robotics and Automation
;
Simulation and Modeling
;
Symbolic Systems
Abstract:
In the present paper, an attempt has been made to design a three-legged climbing robot. Each leg of the robot has been considered to have two revolute joints controlled separately by two differential drive motors. Both forward and inverse kinematics analysis have been conducted. The problem of trajectory generation of each joint (both for swing phase and support) has been solved to suit the basic motion laws of Newton's. Dynamic analysis of each link of all the legs has been derived analytically using Lagrange-Euler formulation. Both kinematic and dynamic analysis models of the robot have been tested through computer simulations while the robot is following a straight line path. It is important to mention that the direction of movement of the robot has been considered in the opposite direction of the gravitational acceleration.