Mobility properties analyses of a wall climbing hexapod robot

作者：He, Bin^*; Xu, Shoulin; Zhou, Yanmin; Wang, Zhipeng

来源：Journal of Mechanical Science and Technology, 2018, 32(3): 1333-1344.

DOI：10.1007/s12206-018-0237-2

• Wall climbing hexapod robot
• Screw theory
• Degree of freedom
• Constraint equations
• Workspace
• Singularity

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.

• 出版日期2018-3
• 单位同济大学