Abstract:

By using a method based on the influence coefficient principle and screw theory, the motion state of the sixlegged climbing robot is analyzed. In which, the screw theory to build the movement model for each single leg is firstly adopted. Then 1 order and 2order influence coefficient matrixes are proposed to analyze the velocity and acceleration for the end point of the robot. Additionally, 4 acceleration influence factors are used to analyze the impact on the acceleration. Finally, in order to obtain the parameters for different rotation angles, a prototype of the sixlegged wall climbing robot is developed with ADAMS. To test the correctness and rationality of the proposed approach in terms of the kinematics of the sixlegged wall climbing robot, the actual sixlegged wall climbing robot developed by South China University of Technology is adopted. And the experimental results show that the change of the angular acceleration and the first order influence coefficient matrix plays an important role on acceleration change, which also provides an valuable reference for gait trajectory planning.