RT Journal Article
SR Electronic
A1 Huang, Tao
A1 Cao, Rundong
A1 Wu, Xinliang
T1 Design of a Biped Climbing Robot: Simulation, Comparison and Implementation
JF Manufacturing Technology Journal
YR 2023
VO 23
IS 6
SP 976
OP 988
DO 10.21062/mft.2023.109
UL https://journalmt.com/artkey/mft-202306-0025.php
AB 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.