Design and implementation of hybrid-climbing legged robot
Joint Authors
Abd al-Ali, Ali H.
Hasan, Mustafa Y.
Rashid, Mufid T.
Source
The Iraqi Journal of Electrical and Electronic Engineering
Issue
Vol. 15, Issue 1 (30 Jun. 2019), pp.37-46, 10 p.
Publisher
University of Basrah College of Engineering
Publication Date
2019-06-30
Country of Publication
Iraq
No. of Pages
10
Main Subjects
Engineering & Technology Sciences (Multidisciplinary)
Abstract EN
In this paper, the hybrid-climbing legged robot is designed, implemented, and practically tested.
The robot has four legs arranged symmetrically around the body were designed for climbing wire mesh fence.
Each leg in robot has 3DOF which makes the motion of the robot is flexible.
The robot can climb the walls vertically by using a unique design of gripper device included metal hooks.
The mechanism of the movement is a combination of two techniques, the first is the common way for the successive movement like gecko by using four limbs, and the second depending on the method that used by cats for climbing on the trees using claws, for this reason, the robot is named hybrid-climbing legged robot.
The movement mechanism of the climbing robot is achieved by emulating the motion behavior of the gecko, which helped to derive the kinematic equations of the robot.
The robot was practically implemented by using a microcontroller for the mainboard controller while the structure of the robot body is designed by AutoCAD software.
Several experiments performed in order to test the success of climbing on the vertical wire mesh fence.
American Psychological Association (APA)
Hasan, Mustafa Y.& Rashid, Mufid T.& Abd al-Ali, Ali H.. 2019. Design and implementation of hybrid-climbing legged robot. The Iraqi Journal of Electrical and Electronic Engineering،Vol. 15, no. 1, pp.37-46.
https://search.emarefa.net/detail/BIM-892144
Modern Language Association (MLA)
Hasan, Mustafa Y.…[et al.]. Design and implementation of hybrid-climbing legged robot. The Iraqi Journal of Electrical and Electronic Engineering Vol. 15, no. 1 (2019), pp.37-46.
https://search.emarefa.net/detail/BIM-892144
American Medical Association (AMA)
Hasan, Mustafa Y.& Rashid, Mufid T.& Abd al-Ali, Ali H.. Design and implementation of hybrid-climbing legged robot. The Iraqi Journal of Electrical and Electronic Engineering. 2019. Vol. 15, no. 1, pp.37-46.
https://search.emarefa.net/detail/BIM-892144
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 44-46
Record ID
BIM-892144