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There are a lot of high-height structures that should be inspected or manipulated frequently due to maintenance purposes. According to the safety considerations and time or cost limitations, substituting the human operator with an automatic robot is inevitable. The main objective of this paper is to design and manufacture a novel climbing robot equipped with grip-based locomotion system which can climb through scaffold structures and trusses to accomplish inspectional and operational tasks. The proposed robot has good maneuverability and stability. The proposed robot is manufactured in order to verify the simulation results with experimental data. The chassis and its corresponding grippers are designed first, and the corresponding model of the system is extracted. This model is used then for designing the controlling strategy of the system. The path planning of the robot is conducted to realize the climbing process by the robot during several steps in an optimum way. The prototype of the proposed robot is manufactured at Kharazmi University called KharazmBot. Experimental results not only show the capability of the manufactured robot toward ascending the mentioned structures but also prove its high stability as a result of its designed gripper and also its good maneuverability as a result of its over-actuated mechanism. Thus, it is concluded that the designed and manufactured climbing robot of this paper can successfully ascend through the pipes and trusses and perform a desired inspectional or operational task with good accuracy and safety while its stability is also satisfied.
In this paper, a new mobile cable-driven parallel robot is proposed by mounting a spatial cable robot on a wheeled mobile robot. This system includes all the advantages of cable robots such as high ratio of payload to weight and good stiffness and accuracy while its deficiency of limited workspace is eliminated by the aid of its mobile chassis. The combined system covers a vast workspace area whereas it has negligible vibrations and cable sag due to using shorter cables. The dynamic equations are derived using Gibbs–Appell formulation considering viscoelasticity of the cables. Therefore, the more realistic viscoelastic cable model of the robot reveals the system flexibility effect and shows the requirements needed to control the end-effector in the conditions with cable elasticity. The viscoelastic system stability is investigated based on the input–output feedback linearization and using only the actuators feedback data. Feedback linearization controller is equipped by two additional controllers, that is, the optimal controller based on Linear Quadratic Regulator (LQR) method and finite horizon model predictive approach. They are used to control the system compromising between the control effort and error signals of the feedback linearized system. The applied control input to the robot plant is the voltage signal limited to a specified band. The validity of modeling and the designed controller efficiency are investigated using MATLAB simulation and its verification is accomplished by experimental tests conducted on the manufactured cable robot, ICaSbot.
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