Kinematics modeling and simulation of traveling wave detection robot(TDR)

Jiangyu Guo; Xiangyuan Zeng; Jian Li; Hao Huang; Ruoyu Feng; Hanqing Niu; Xiangdong Liu

Kinematics modeling and simulation of traveling wave detection robot(TDR)

Jiangyu Guo, Xiangyuan Zeng, Jian Li^*, Hao Huang, Ruoyu Feng, Hanqing Niu, Xiangdong Liu

^*Corresponding author for this work

School of Automation

Research output: Contribution to conference › Paper › peer-review

Abstract

In this paper, a crawling traveling wave detection robot is presented with obstacle-climbing capability. The robot produces a traveling wave which can move forward by producing an advancing sine wave, using a single motor to connect with a helix pole. When the motor rotates the helix, the links cancel the rotation along the axis of the helix and maintain a vertical motion. The design of the robot is unique and succinct. A kinematic model to analyze the motion of robot is constructed by considering the formulas of the trajectory and speed of the links. Numerical simulations are performed to validate the feasibility of the robot design and its characteristics.

Original language	English
Publication status	Published - 2018
Event	8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and Control Applications, ISCIIA and ITCA 2018 - Tengzhou, Shandong, China Duration: 2 Nov 2018 → 6 Nov 2018

Conference

Conference	8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and Control Applications, ISCIIA and ITCA 2018
Country/Territory	China
City	Tengzhou, Shandong
Period	2/11/18 → 6/11/18

Keywords

Helix
Kinematic model
Traveling wave detection robot

Cite this

Guo, J., Zeng, X., Li, J., Huang, H., Feng, R., Niu, H., & Liu, X. (2018). Kinematics modeling and simulation of traveling wave detection robot(TDR). Paper presented at 8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and Control Applications, ISCIIA and ITCA 2018, Tengzhou, Shandong, China.

Guo, Jiangyu ; Zeng, Xiangyuan ; Li, Jian et al. / Kinematics modeling and simulation of traveling wave detection robot(TDR). Paper presented at 8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and Control Applications, ISCIIA and ITCA 2018, Tengzhou, Shandong, China.

@conference{a7fbc076915441dda9de2d19f521509f,

title = "Kinematics modeling and simulation of traveling wave detection robot(TDR)",

abstract = "In this paper, a crawling traveling wave detection robot is presented with obstacle-climbing capability. The robot produces a traveling wave which can move forward by producing an advancing sine wave, using a single motor to connect with a helix pole. When the motor rotates the helix, the links cancel the rotation along the axis of the helix and maintain a vertical motion. The design of the robot is unique and succinct. A kinematic model to analyze the motion of robot is constructed by considering the formulas of the trajectory and speed of the links. Numerical simulations are performed to validate the feasibility of the robot design and its characteristics.",

keywords = "Helix, Kinematic model, Traveling wave detection robot",

author = "Jiangyu Guo and Xiangyuan Zeng and Jian Li and Hao Huang and Ruoyu Feng and Hanqing Niu and Xiangdong Liu",

note = "Publisher Copyright: {\textcopyright} ISCIIA and ITCA 2018 - 8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and Control Application.; 8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and Control Applications, ISCIIA and ITCA 2018 ; Conference date: 02-11-2018 Through 06-11-2018",

year = "2018",

language = "English",

}

Guo, J, Zeng, X, Li, J, Huang, H, Feng, R, Niu, H & Liu, X 2018, 'Kinematics modeling and simulation of traveling wave detection robot(TDR)', Paper presented at 8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and Control Applications, ISCIIA and ITCA 2018, Tengzhou, Shandong, China, 2/11/18 - 6/11/18.

Kinematics modeling and simulation of traveling wave detection robot(TDR). / Guo, Jiangyu; Zeng, Xiangyuan; Li, Jian et al.
2018. Paper presented at 8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and Control Applications, ISCIIA and ITCA 2018, Tengzhou, Shandong, China.

Research output: Contribution to conference › Paper › peer-review

TY - CONF

T1 - Kinematics modeling and simulation of traveling wave detection robot(TDR)

AU - Guo, Jiangyu

AU - Zeng, Xiangyuan

AU - Li, Jian

AU - Huang, Hao

AU - Feng, Ruoyu

AU - Niu, Hanqing

AU - Liu, Xiangdong

N1 - Publisher Copyright: © ISCIIA and ITCA 2018 - 8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and Control Application.

PY - 2018

Y1 - 2018

N2 - In this paper, a crawling traveling wave detection robot is presented with obstacle-climbing capability. The robot produces a traveling wave which can move forward by producing an advancing sine wave, using a single motor to connect with a helix pole. When the motor rotates the helix, the links cancel the rotation along the axis of the helix and maintain a vertical motion. The design of the robot is unique and succinct. A kinematic model to analyze the motion of robot is constructed by considering the formulas of the trajectory and speed of the links. Numerical simulations are performed to validate the feasibility of the robot design and its characteristics.

AB - In this paper, a crawling traveling wave detection robot is presented with obstacle-climbing capability. The robot produces a traveling wave which can move forward by producing an advancing sine wave, using a single motor to connect with a helix pole. When the motor rotates the helix, the links cancel the rotation along the axis of the helix and maintain a vertical motion. The design of the robot is unique and succinct. A kinematic model to analyze the motion of robot is constructed by considering the formulas of the trajectory and speed of the links. Numerical simulations are performed to validate the feasibility of the robot design and its characteristics.

KW - Helix

KW - Kinematic model

KW - Traveling wave detection robot

UR - http://www.scopus.com/inward/record.url?scp=85057981101&partnerID=8YFLogxK

M3 - Paper

AN - SCOPUS:85057981101

T2 - 8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and Control Applications, ISCIIA and ITCA 2018

Y2 - 2 November 2018 through 6 November 2018

ER -

Guo J, Zeng X, Li J, Huang H, Feng R, Niu H et al.. Kinematics modeling and simulation of traveling wave detection robot(TDR). 2018. Paper presented at 8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and Control Applications, ISCIIA and ITCA 2018, Tengzhou, Shandong, China.

Kinematics modeling and simulation of traveling wave detection robot(TDR)

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