Abstract
This chapter presents the kinematic analysis of a novel 10-degrees-of-freedom serial-parallel redundant robot. The robot is designed for climbing and exploring 3D truss structures to execute maintenance and inspection tasks. First, the forward kinematic problem of the robot is solved. Then, since the general inverse kinematic problem is complex due to the kinematic redundancy, a simplified problem which assumes planar and symmetric postures is solved. Using a developed simulator, it is shown that these planar and symmetric postures are sufficient to execute many typical movements necessary to explore 3D structures, such as transitions between different beams or between different faces of a beam. Finally, the workspace of the robot when it adopts the planar and symmetric postures is analyzed for different designs, demonstrating the flexibility of these postures.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Alciatore, D., Ng, C.: Determining manipulator workspace boundaries using the Monte Carlo method and least squares segmentation. ASME Robot. Kinemat. Dyn. Controls 72, 141–146 (1994)
Aracil, R., Saltaren, R.J., Reinoso, O.: A climbing parallel robot: a robot to climb along tubular and metallic structures. IEEE Robot. Autom. Mag. 13(1), 16–22 (2006)
Baghani, A., Ahmadabadi, M.N., Harati, A.: Kinematics modeling of a wheel-based pole climbing robot (UT-PCR). In: Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp. 2099–2104 (2005)
Bajd, T., Mihelj, M., Munih, M.: Introduction to Robotics. Springer, Netherlands (2013)
Balaguer, C., Giménez, A., Pastor, J.M., Padrón, V.M., Abderrahim, M.: A climbing autonomous robot for inspection applications in 3D complex environments. Robotica 18(3), 287–297 (2000)
Balaguer, C., Giménez, A., Jardon, A.: Climbing robots’ mobility for inspection and maintenance of 3D complex environments. Auton. Robots 18(2), 157–169 (2005)
Figliolini, G., Rea, P., Conte, M.: Mechanical design of a novel biped climbing and walking robot. In: Parenti Castelli, V., Schiehlen, W. (ed.) ROMANSY 18 Robot Design, Dynamics and Control, CISM International Centre for Mechanical Sciences, vol. 524, pp. 199–206. Springer Vienna (2010)
Guan, Y., Jiang, L., Zhu, H., Zhou, X., Cai, C., Wu, W., Li, Z., Zhang, H., Zhang, X.: Climbot: a modular bio-inspired biped climbing robot. In: Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1473–1478 (2011)
Kong, X., Gosselin, C.M.: Generation and forward displacement analysis of R\(\underline{{{\rm P}}}\)R-PR-R\(\underline{{{\rm P}}}\)R analytic planar parallel manipulators. ASME J. Mech. Design 124(2), 294–300 (2002)
Mampel, J., Gerlach, K., Schilling, C., Witte, H.: A modular robot climbing on pipe-like structures. In: Proceedings of the 4th International Conference on Autonomous Robots and Agents, pp. 87–91 (2009)
Schmidt, D., Berns, K.: Climbing robots for maintenance and inspections of vertical structures—a survey of design aspects and technologies. Robot. Autom. Syst. 61(12), 1288–1305 (2013)
Shvalb, N., Moshe, B.B., Medina, O.: A real-time motion planning algorithm for a hyper-redundant set of mechanisms. Robotica 31(8), 1327–1335 (2013)
Tavakoli, M., Marques, L., De Almeida, A.T.: 3DCLIMBER: climbing and manipulation over 3D structures. Mechatronics 21(1), 48–62 (2011)
Tavakoli, M., Viegas, C., Marques, L., Norberto Pires, J., De Almeida, A.T.: OmniClimber-II: an omnidirectional climbing robot with high maneuverability and flexibility to adapt to non-flat surfaces. In: Proceedings of the 2013 IEEE International Conference on Robotics and Automation, pp. 1349–1354 (2013)
Tavakoli, M., Zakerzadeh, M.R., Vossoughi, G.R., Bagheri, S.: A hybrid pole climbing and manipulating robot with minimum DOFs for construction and service applications. Ind. Robot Inter. J. 32(2), 171–178 (2005)
Yoon, Y., Rus, D.: Shady3D: a robot that climbs 3D trusses. In: Proceedings of the 2007 IEEE International Conference on Robotics and Automation, pp. 4071–4076 (2007)
Acknowledgments
This work was supported by the Spanish Government through the Ministerio de Educación, Cultura y Deporte under an FPU grant (Ref: FPU13/00413) and through the Ministerio de Economía y Competitividad under Project DPI2013-41557-P.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this paper
Cite this paper
Peidró, A., Gil, A., Marín, J.M., Berenguer, Y., Reinoso, Ó. (2016). Kinematics, Simulation, and Analysis of the Planar and Symmetric Postures of a Serial-Parallel Climbing Robot. In: Filipe, J., Madani, K., Gusikhin, O., Sasiadek, J. (eds) Informatics in Control, Automation and Robotics 12th International Conference, ICINCO 2015 Colmar, France, July 21-23, 2015 Revised Selected Papers. Lecture Notes in Electrical Engineering, vol 383. Springer, Cham. https://doi.org/10.1007/978-3-319-31898-1_7
Download citation
DOI: https://doi.org/10.1007/978-3-319-31898-1_7
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-31896-7
Online ISBN: 978-3-319-31898-1
eBook Packages: EngineeringEngineering (R0)