Summary
Crawling and climbing robots are complex mechatronic systems with many degrees of freedom which can move along various surfaces. Several types of these mobile robots are considered, namely: wall-climbing robots; tube-crawling robots; snake-like multilink mechanisms. The overall design of the robots and their specific features are described. The wall-climbing robots equipped with pneumatic suckers can move along vertical surfaces and perform different operations such as cleaning, inspection, painting, cutting, welding, etc. The tube-crawling robots move inside tubes and can be used for monitoring and repair of pipelines. The multilink mechanisms can perform snake-like locomotions along a horizontal plane. The motions of the robots occur under the influence of dry friction and control torques created by the actuators installed at the joints of the robots. Regular gaits of the robots are proposed, and their kinematics and dynamics are analyzed. Results of the computer simulation as well as experimental data are discussed. Optimization of the design and gaits of the robots is carried out. As a result, optimal geometrical and mechanical parameters are found which correspond to the maximal speed of the robot motion.
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
Preview
Unable to display preview. Download preview PDF.
References
Abarinov, A. V. et al: A robot system for moving over vertical surfaces. Soviet Journal of Computer and Systems Sciences, 27(3), 130–142 (1989)
Gradetsky, V. G., Rachkov, M. Yu., Sizov, Yu. G., Ulyanov, S. V., Chernousko, F. L.: Mobile systems with vertical displacement robots. Journal of Computer and Systems Sciences International, 31(1), 126–142 (1993)
Chernousko, F. L., Bolotnik, N. N., Gradetsky, V. G.: Manipulation Robots. Dynamics, Control, and Optimization. CRC Press, Boca Raton (1994)
Chernousko, F. L., Gradetsky, V. G., Bolotnik, N. N., Veshnikov, V. B.: Multilink mobile robot for motion over arbitrarily inclined surfaces. In: Proceedings of the First ECPD International Conference on Advanced Robotics and Intelligent Automation, Athens, Greece (1995)
Rossmann, T., Pfeiffer, F.: Control and design of a pipe crawling robot. In: Proceedings of the 13th World Congress on Automatic Control, San Francisco (1996)
Chernousko, F. L.: The motion of a multilink system along a horizontal plane. Journal of Applied Mathematics and Mechanics, 64(1), 5–15 (2000)
Chernousko, F. L.: The wave-like motion of a multilink system on a horizontal plane. Journal of Applied Mathematics and Mechanics, 64(4), 497–508 (2000)
Chernousko, F. L.: On the motion of a three-member linkage along a plane. Journal of Applied Mathematics and Mechanics, 65(1), 15–20 (2001)
Chernousko, F. L.: Controllable motions of a two-member mechanism along a horizontal plane. Journal of Applied Mathematics and Mechanics, 65(4), 565–577 (2001)
Chernousko, F. L.: Snake-like locomotions of multilink mechanisms. Journal of Vibration and Control, 9(1–2), 235–256 (2003)
Fujita, A., Tsuge, M., Mori, K., Sonoda, S., Watahiki, S., Ozaki, N.: Development of inspection robots for spherical gas storage tanks. In: Proceedings of the 16th International Symposium on Industrial Robots, Brussels (1986)
Hirose, S.: Wall climbing vehicle using internally balanced magnetic unit. In: Proceedings of the 6th CISM-IFToMM Symposium ROMANSY-86, Cracow (1986)
Sugiyata, S., Naiton, S., Sato, C., Ozaki, N., Watahiki, S.: Wall surface vehicles with magnetic legs or vacuum legs. In: Proceedings of the 16th International Symposium on Industrial Robots, Brussels (1986)
Chernousko, F. L.: On the mechanics of a climbing robot. Mechatronic Systems Engineering, 1, 219–224 (1990)
Chernousko, F. L.: Equilibrium conditions for a solid on a rough surface. Mechanics of Solids, 23(6), 1–12 (1988)
Bolotnik, N. N., Sternin, S. L.: Optimization of motions of a universal multilink walking robot. Journal of Computer and Systems Sciences International, 36(4), 626–637 (1997).
Bolotnik, N. N., Chernousko, F. L., Kumakshev, S. A., Pfeiffer, F.: Static analysis of a two-member linkage interacting with a given surface. Archive of Applied Mechanics, 69(7), 429–442 (1999)
Pfeiffer, F., Rossmann, T., Bolotnik, N. N., Chernousko, F. L., Kostin, G. V.: Simulation and optimization of regular motions of a tube-crawling robot. Multibody System Dynamics, 5(2), 159–184 (2001)
Bolotnik, N. N., Chernousko, F. L., Kostin, G. V., Pfeiffer, F.: Regular motion of a tube-crawling robot in a curved tube. Mechanics of Structures and Machines, 30(4), 431–462 (2002)
Gray, J.: Animal Locomotion. Weidenfeld & Nicolson, London (1968)
Hirose, S.: Biologically Inspired Robots: Snake-like Locomotors and Manipulators. Oxford University Press, Oxford (1993)
Chernousko, F. L. Modelling of snake-like locomotions. In this volume.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2005 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Chernousko, F.L. (2005). Simulation and Optimization of Crawling Robots. In: Bock, H.G., Phu, H.X., Kostina, E., Rannacher, R. (eds) Modeling, Simulation and Optimization of Complex Processes. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-27170-8_7
Download citation
DOI: https://doi.org/10.1007/3-540-27170-8_7
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-23027-4
Online ISBN: 978-3-540-27170-3
eBook Packages: Mathematics and StatisticsMathematics and Statistics (R0)