Authors : P. Chattopadhyay, A. Majumder, H. Dikshit, S. Ghoshal and A. Maity
Abstract: This study represents kinematic and dynamic simulation of a wall climbing robot. This is a bio-inspired robot and mimics inchworm locomotion during climbing. The 3D Model of robot is prepared in a 3D CAD modeler. The simulation of this serial chain robot has been performed in a multi-body dynamics solver. Sinusoidal velocity gait pattern is used for reaching the approximation of inchworm locomotion. The joint torque graphs of three servo motors with respect to time have been verified and maximum torque for each of the joint is marked from the postprocessor data. The robot moves by applied periodic gait and solenoids attached at the end links produce attachment force of 50 N each. Simulation is being carried out in a simulated environment with some assumptions. The generated torque is used for selection of the servo motor.
P. Chattopadhyay, A. Majumder, H. Dikshit, S. Ghoshal and A. Maity, 2018. Design and Simulation of a Limbless Climbing Robot. Journal of Engineering and Applied Sciences, 13: 5529-5535.