Abstract
In this article, the most contribution is to propose a novel general stiffness model to analyze the stiffness of a wall-climbing hexapod robot. First, we propose a new general stiffness model of serial mechanism, which includes the linear and nonlinear stiffness models. By comparison, the nonlinear stiffness model is a variable stiffness model which introduces the external load force as a variable, obtaining that the nonlinear stiffness model can greatly improve the accuracy of stiffness model than linear stiffness model. Then, the stiffness model of one leg of the robot and the overall stiffness model of the robot are derived based on the general stiffness model. Next, to improve the stiffness of the robot, a new minimum and maximum stiffness are introduced, which provide with effective reference for the selection and optimization of the structural parameters of the robot. Finally, we develop a new wall-climbing hexapod robot based on selection and optimization of the structural parameters, then the experiments are used to show that the selection of structure parameters of the robot effectively improve the stiffness of the robot.
Highlights
Modern city skyscrapers, for good glass lighting performance and good esthetic considerations purposes, glass curtain walls have been widely used in the high buildings
Based on general stiffness model of serial mechanism, we establish the stiffness model of one leg of robot, and derive the overall stiffness model of the wallclimbing hexapod robot
We have analyzed the effect of the structural parameters u, L1, L2, and L3 and the external force fx on the stiffness of one leg in section ‘‘Stiffness evaluation of one leg of wall-climbing hexapod robot.’’ experiments indicate that the selection of the structural parameters of the robot effectively improves the stiffness of the robot
Summary
For good glass lighting performance and good esthetic considerations purposes, glass curtain walls have been widely used in the high buildings. Compared to the linear stiffness matrix, the nonlinear stiffness matrix can indicate the relation between force and deformation at the end of serial mechanism. The general stiffness matrix KL in equation (14) can comprehensively reflect the relationship between the force and deformation at the end of one leg. Supposing matrix KP is the overall stiffness matrix of the wall-climbing hexapod robot, by equation (16), yielding. The nonlinear stiffness model of one leg has been analyzed, and the nonlinear deformation coefficients of each joint have been obtained above. When angle u increases, it can be seen that the distances between the scatter point and the fitting straight line are larger, which indicates that linear deformation coefficient cannot show the real relation between the torque t1 and the deformation angle u of the suction cup. In order to facilitate the presentation of this definition, we first block the stiffness matrix KL in equation (14), which can be generally represented in the form of
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