A Wheel-Claw Hybrid Manipulator and its Grasping Stability for the Mobile Robot Rolling/Crawling Along Flexible Cable

A new type of wheel-claw hybrid manipulator for the mobile robot rolling/crawling along flexible cable with obstacles is put forward in this paper. First design the schematic of such wheel-claw hybrid manipulator, which is consisted of one driving wheel-claw and driving unit, and seven driven wheel-claws. Second, derive the static force and moment equilibrium equations of the hybrid manipulator. Then, adopt the grasping stability configuration theory of multi-fingered robotic hands to obtain its grasping stability evaluation function. Last optimize the stable grasping conditions of such wheel-claw hybrid manipulator by utilizing stability performance evaluating indicators. The proposed wheel-crawl hybrid manipulator is available for stably grasping the flexible cable and the obstacles along the moving flexible path.

[1]  Kensuke Harada,et al.  Rolling-based manipulation for multiple objects , 2000, IEEE Trans. Robotics Autom..

[2]  T. Omata,et al.  A polyhedral bound on the indeterminate contact forces in 2D fixturing and grasping arrangements , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[3]  Takayoshi Yamada,et al.  Stability analysis of 3D grasps by a multifingered hand , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[4]  Xiao-hui Xiao,et al.  Dynamic simulation and experimental study of inspection robot for high-voltage transmission-line , 2005 .

[5]  Joel W. Burdick,et al.  Mobility of Bodies in Contact{ii: How Forces Are Generated by Curvature Eeects? , 1994 .

[6]  Kensuke Harada,et al.  Neighborhood equilibrium grasp for multiple objects , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[7]  Joel W. Burdick,et al.  Mobility of bodies in contact. I. A 2nd-order mobility index for multiple-finger grasps , 1994, IEEE Trans. Robotics Autom..

[8]  Tsuneo Yoshikawa,et al.  Optimization of power grasps for multiple objects , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[9]  Kazuo Tanie,et al.  Kinematics, statics and stiffness effect of 3D grasp by multifingered hand with rolling contact at the fingertip , 1997, Proceedings of International Conference on Robotics and Automation.

[10]  Kensuke Harada,et al.  Pushing multiple objects using equivalent friction center , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[11]  Takayoshi Yamada,et al.  Grasp Stability Analysis of Two Objects in Two Dimensions , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[12]  Yang Yang.  Optimal Grasping Planning of Multi-fingered Dexterous Hands Based on Generalized Force Ellipsoid , 2001 .

[13]  Zhang Jia-liang.  Study on Cable-climbing Mechanism for Cable-stayed Bridge , 2001 .

[14]  Hong Liu,et al.  A new algorithm for three-finger force-closure grasp of polygonal objects , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[15]  J. Burdick,et al.  Mobility of Bodies in Contact — Part II : How Forces are Generated by Curvature Effects , 1998 .

[16]  Han Ding,et al.  On the Dynamic Stability of Grasping , 1999, Int. J. Robotics Res..