Decentralized damage diagnosis for beam-like truss structure considering modeling error

2012 ◽  
pp. 806-811
Author(s):  
Z Sun ◽  
B Zhou
Keyword(s):  
Truss Structure ◽  
Modeling Error ◽  
Damage Diagnosis

scholarly journals The WL_PCR: A Planning for Ground-to-Pole Transition of Wheeled-Legged Pole-Climbing Robots

Robotics ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 96
Author(s):  
Yankai Wang ◽  
Qiaoling Du ◽  
Tianhe Zhang ◽  
Chengze Xue
Keyword(s):  
Motion Planning ◽  
Mobile Robots ◽  
Dynamic Process ◽  
Mathematical Expression ◽  
Truss Structure ◽  
Centre Of Mass ◽  
Climbing Robots ◽  
Wheeled Vehicle ◽  
Motion Modes

Hybrid mobile robots with two motion modes of a wheeled vehicle and truss structure with the ability to climb poles have significant flexibility. The motion planning of this kind of robot on a pole has been widely studied, but few studies have focused on the transition of the robot from the ground to the pole. In this study, a locomotion strategy of wheeled-legged pole-climbing robots (the WL_PCR) is proposed to solve the problem of ground-to-pole transition. By analyzing the force of static and dynamic process in the ground-to-pole transition, the condition of torque provided by the gripper and moving joint is proposed. The mathematical expression of Centre of Mass (CoM) of the wheeled-legged pole-climbing robots is utilized, and the conditions for the robot to smoothly transition from the ground to the vertical pole are proposed. Finally, the feasibility of this method is proved by the simulation and experimentation of a locomotion strategy on wheeled-legged pole-climbing robots.

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