Logic motion algorithm and design of flexible limb of gecko-imitating robot

The tower climbing robot is supposed to climb up and down smoothly along the power transmission tower skeleton and stay firmly at the desired position, and install the safety cable at the appropriate position of the tower end, providing the basic life safety guarantee for the operator's in climbing and operating for the maintenance of the tower connection of the high voltage transmission line. Because of the non-uniform arrangement of the handles along the angular steel of the skeleton, the most critical problem to be solved in the climbing process is to find and eliminate pseudo targets and reliably grasp the real targets and move forward reliably. In this paper, we proposed and designed a set of searching and pseudo target elimination algorithms for robot flexible limbs with the chassis and intelligent control. The grasping climbing state sequence sets of robot flexible limbs were defined and constructed in Euclidean n-dimensional space with a real number, and a complete cycle map of the flexible limb behaviors was drawn. By using the norm sequence set of the distances between the centers of two adjacent handles on the same side of the skeleton, the machine vision and the specific W-type sensor layout, the pseudo target and real target can be discriminated effectively, so that the robot's grasping and climbing can be established on a reliable mathematical basis. Flexible limbs consist of a built-in motor, screw expansion mechanism, flexible palm-fingers, and W type of sensor layout region. In the process of crawling, the screw mechanism makes macroscopically the limb approach the handle, meanwhile the palm-fingers justify microscopically to the center of the handle by the pressure-uniform algorithm, ensuring that the robot climbs, discriminates the pseudo target, and stays at any position of the skeleton. Simulation study and case analysis show that the proposed flexible limb and climbing-removing pseudo-target algorithm are of correctness, reliability, and practice.

Automated summary

This paper proposes and designs a set of searching and pseudo target elimination algorithms for robot flexible limbs, defines and constructs grasping climbing state sequence sets of robot flexible limbs in Euclidean n-dimensional space, and draws a complete cycle map of flexible limb behaviors. By using the norm sequence set of the distances between the centers of two adjacent handles on the same side of the skeleton, machine vision, and specific W-type sensor layout, the pseudo target and real target can be effectively discriminated, establishing the robot's grasping and climbing on a reliable mathematical basis.