Abstract
In order to investigate the path planning problems for bionic climbing robot based on GPL model, a path planning method was proposed. Firstly, the bionic climbing robot based on the GPL model was introduced. And then, the effects of the robot's path on climbing ability were studied by the kinematics and statics analyses of GPL model. The path planning was realized by minimizing the foot force. Finally, the results were validated by ADAMS simulation. The results show that the method may solve the path planning problems for bionic climbing robot based on GPL model, and explain the rationality of movement model for the gecko adopting swing crawling rather than rectilinear creeping.
| Original language | English |
|---|---|
| Pages (from-to) | 3273-3278 |
| Number of pages | 6 |
| Journal | Zhongguo Jixie Gongcheng/China Mechanical Engineering |
| Volume | 27 |
| Issue number | 24 |
| DOIs | |
| State | Published - 25 Dec 2016 |
Keywords
- Climbing robot
- Gecko inspired mechanism with a pendular waist and linear legs(GPL)
- Path planning
- Singularity path
- Statics analysis
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