Manufacturing Technology 2023, 23(6):976-988 | DOI: 10.21062/mft.2023.109

Design of a Biped Climbing Robot: Simulation, Comparison and Implementation

Tao Huang ORCID...1,2, Rundong Cao ORCID...3, Xinliang Wu ORCID...4
1 Modern Engineering Training Center, Xiamen University of Technology. 600 Ligong Road, Xiamen City, Fujian Province. China
2 Xiamen Key Laboratory of Frontier Electric Power Equipment and Intelligent Control, Xiamen City, Fujian Province
3 Ruijie Networks Co., Ltd. Building 19, Juyuanzhou Industrial Park, No. 618 Jinshan Avenue, Cangshan District, Fuzhou City, Fujian Province. China
4 Modern Engineering Training Center, Xiamen University of Technology. 600 Ligong Road, Xiamen City, Fujian Province. China

In this paper, the design of a robot is proposed to replace manual labor in completing tasks on vertical planes. The aim is to enhance automation in the workplace and eliminate direct human involvement to ensure personal safety. Firstly, the robot's structure is designed as a five-joint biped with vacuum adsorption capabilities. The forward and inverse kinematics of the robot are analyzed. Secondly, using simulation by ADAMS, five key performance metrics are quantitatively analyzed for both this robot and a Hexapod robot. These metrics include adsorption reliability, external load-bearing capacity, friction coefficient adaptability, obstacle-crossing capacity, and joint torque. Thirdly, the main control chip used for this robot is STM32F407. The circuit system design and physical implementation of the robot are based on this chip. Finally, experiments are conducted to study the actual performance of the robot in vertical cleaning tasks.

Keywords: Wall-climbing robot, bped robot, vertical cleaning
Grants and funding:

This research was supported in part by the Horizontal Scientific Research Project of Xiamen University of Technology (grant ZK-HX22157) and Xiamen Key Laboratory of Frontier Electric Power Equipment and Intelligent Control. The authors would like to express their gratitude to the editor and anonymous reviewers for their valuable feedback and suggestions

Received: September 22, 2023; Revised: December 7, 2023; Accepted: December 19, 2023; Prepublished online: December 19, 2023; Published: December 22, 2023  Show citation

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Huang T, Cao R, Wu X. Design of a Biped Climbing Robot: Simulation, Comparison and Implementation. Manufacturing Technology. 2023;23(6):976-988. doi: 10.21062/mft.2023.109.
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