Research on Slope Climbing Capacity of a Close Chain Five-Bow-Shaped-Bar Linkage

Slope climbing capacity of a close chain five-bow-shaped-bar linkage and minimum friction coefficient during climbing are analyzed. First, the analysis model of slope climbing for the closed linkage is established, and the CG position kinematics model on slope is built with homogeneous transformation matrix. Secondly, the static analysis model is established to get the active joint angle along with a certain slope under the geometrical constraint of the slope, and the graph between the maximum slope and roll angle is obtained by using numerical method. Thirdly, the minimum static friction coefficients curve is figured out by the force relationship. Then, motion planning is conducted by the constant CG offset for uniform climbing, thereby solving the active joint trajectory. Finally, slope climbing experiments are carried out to verify the correctness of analysis results.