Open AccessResearch on obstacle climbing gait of snake‐like robot on high‐voltage cables cables
Author(s) -
Yang Zhiyong,
Zhang Zihao,
Fang Qiao,
Zhang Daode,
Liu Xing,
Wang Fan
Publication year - 2021
Publication title -
electronics letters
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.375
H-Index - 146
eISSN - 1350-911X
pISSN - 0013-5194
DOI - 10.1049/ell2.12296
Subject(s) - climbing , robot , snake arm robot , piecewise , spiral (railway) , voltage , control theory (sociology) , trajectory , simulation , obstacle , bézier curve , gait , engineering , computer science , robot kinematics , artificial intelligence , mobile robot , electrical engineering , structural engineering , physics , mathematics , control (management) , geometry , mechanical engineering , law , mathematical analysis , biology , physiology , political science , astronomy
Aiming at the gait control problem of a snake‐like inspection robot performing variable‐diameter spiral motion on high‐voltage cables, a gait generation method is proposed here, the snake‐like robot can adapt to the change in diameter when it is winding around the obstacles of high‐voltage cables. The piecewise helix is fitted with the Bezier curve of degree 3, which solves the problem of discontinuous speed and abrupt change of joint angle when the snake‐like robot moves with variable diameter, and avoids periodic motion impact. The new idea provides for the application of a snake‐like robot on high‐voltage cables.