Design, Modeling and Control of a Hybrid Climbing Robot in Manipulation Mode Using Feedback Linearization Control Method

Document Type : Research Article

Authors

1 tehran

2 M.S. Student, Mechanical engineering department, Faculty of engineering, Tehran, Iran

Abstract

In this paper, design, modeling and control of a grip-based planar climbing robot is performed which is consist of a triangular plate and three actuating legs. This robot is extremely applicable for many applications in which a human operator should climb through a truss infrastructure and implement some manipulations on the relevant installations. A grip-based climbing robot is designed which has three legs and grippers for climbing through the truss and infrastructures and is able to perform manipulating tasks by locking two legs and its corresponding grippers. This robot is a kind of hybrid robot which has two phase of climbing and operating modes. The control is performed for the operational phase using Feedback Linearization (FBL) in order to overcome the disturbances of operation. Overall kinematics and kinetics of the robot is modeled. All of the modeling are verified by conducting some analytic and comparative simulation scenarios in the MATLAB and the results are also compared with ADAMS software to investigate the correctness of modeling and simulations. Also by the aid of the proposed climbing robot, it is possible to climb and perform a complete operational task through trusses and infrastructures with the best status of safety and accuracy.

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References

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Amirkabir Journal of Mechanical Engineering
Volume 52, Issue 1
April 2020
Pages 57-84

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