Design and motion analysis for a bipedal wall-climbing robot
PENG Shuochen
LIU Chunhua
YE Pan
QIN Hanhao
Abstract：[Objective]To address the challenges traditional robots face in overcoming obstacles on the truss walls of communication towers,a tandem-type wall-climbing inspection robot was proposed for communication towers,featuring two walking modes.[Methods]Through the structure design of the robot and analysis of its movement patterns,the standard D-H method was used to establish coordinate systems and construct forward and inverse kinematic equations.The differential transformation method was employed to derive the robot's velocity Jacobian matrix.Subsequently,the Robotics toolbox in Matlab software was utilized to simulate the robot's reachable workspace and the motion trajectories of single-step movements in both walking modes.Finally,a prototype was developed and tested.[Results]The results demonstrate that both simulations and prototype test confirm the robot's excellent mobility and obstacle-crossing capabilities on communication towers,effectively addressing the difficulties traditional wall-climbing inspection robots encounter in navigating and accessing areas during inspection tasks on communication towers.
Keywords：Wall-climbing robotD-H methodJacobian matrixKinematics simulationPrototype test
Publication Date：2025-11-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：11( 103-113 )