首页|Reports Summarize Robotics Study Results from Sichuan University (Asah: an Arc-surface-adsorption Hexapod Robot With a Motion Control Scheme)
Reports Summarize Robotics Study Results from Sichuan University (Asah: an Arc-surface-adsorption Hexapod Robot With a Motion Control Scheme)
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NETL
NSTL
Wiley
New research on Robotics is the subject of a report. According to news originating from Chengdu, People's Republic of China, by NewsRx correspondents, research stated, "Mobile robots with the ability to climb provide significant advantages in equipment contact operation and maintenance.In this work, an arc-surface-adsorption hexapod (ASAH) robot is designed for a class of internal cavitycylindrical- type electrical equipment (ICCEE)." Funders for this research include National Key R&D Program of China, Scientific and Technical Programs of Sichuan Province of China. Our news journalists obtained a quote from the research from Sichuan University, "The target of robot reliable movement on the ICCEE surface obtains its priority to be solved. Therefore, a matchedspecific motion control scheme is proposed. First, the mechanisms, adaptability, and motility of the ASAH robot are analyzed from a kinematic point of view. Subsequently, to solve the arc surface movement problem, this study proposes a novel six-three-legged composite gait and a 'trapezoidal' foot tip trajectory algorithm, which improve safety in robot support phase movements and adsorption accuracy in the swing phase, respectively. In addition, based on the motion gait and trajectory, an active adsorption scheme is added to compensate for the position error. Finally, both virtual and physical prototype are constructed for performance verification. The simulation results verify the effectiveness of the proposed scheme in facilitating accurate motion on internal and external arc surfaces with different diameters, with an error lower than 5.3 mm/rad and 4.08 × 1 0 - 6 $4.08\times \unicode{x0200A}1{0} <. >{-6}$ rad/mm for movements in the circumferential and axial directions, respectively."
ChengduPeople's Republic of ChinaAsiaEmerging TechnologiesMachine LearningRobotRoboticsSichuan University
NETL
NSTL
Wiley
