Structure Design and Stable-balancing Control of a Kind of Wire-moving Robot

Abstract

Wire-moving robots are mechanical systems that can maintain their balance and move on tightropes. Their name comes from the manner in which tightrope walkers maintain their balance by rolling or moving a pole from left to right. In order to investigate the internal laws of these systems and to apply a mechanism of self-balance control to them, a new mechanical structure for wire-moving robots is presented here. This structure consists of a rotational pole and a translational pole coupled with each other in a parallelogram. The robot is an underactuated system. A dynamic model of the robot is established here based on the Lagrange method, and the controller of the system was designed using a partial feedback linearization control algorithm. Finally, the efficiency of the algorithm and the stabilization were verified by computer simulation and experimentation using a prototype.

Mechanism Design and Dynamical Modelling of a Flexible-Wire-Walking Robot with Swinging-Arms and Rotational Pole

“…In [7]~ [8], a parallelogram mechanism was exploited in the wire-walking robot to achieve the function of the two arms of a real human wire-walker. However, as mentioned above, due to the parallelogram mechanism rotating about a horizontal axis, it is a little difference to a vertically swing arms of a human wire-walker, hence in this paper, an kind of innovated parallel swinging arms that can rotate about a vertical axis was then seriously under consideration.…”

“…Accounting for the manners of that a human wire-walker, the wire-walking robot proposed in [7]- [8] can approximately imitated the balance regulating activities of a real human walker, but its translational pole is driven by a parallelogram mechanism that is rotating about a horizontal axis, thus there may be some difference to a vertically swing arms of a real wire-walker. Moreover, the rotational pole and the translational pole in [7]- [8] are structural independent for each other, which should be a lot of difference to a real human wire-walker. In addition, in the presented researches, most of the work concerning on modelling a wire-walking robot by neglecting the flexibility of the support wire, so their model's accuracy would be insufficient when the system's dynamical analysis is performed.…”

“…suggested a wire-walking robot that featured a rotational pole and a translational pole. As an extension, dynamical model based on Lagrange equations and balanced controllers for the robot system are also under the consideration in [8]. Accounting for the manners of that a human wire-walker, the wire-walking robot proposed in [7]- [8] can approximately imitated the balance regulating activities of a real human walker, but its translational pole is driven by a parallelogram mechanism that is rotating about a horizontal axis, thus there may be some difference to a vertically swing arms of a real wire-walker.…”

“…As an extension, dynamical model based on Lagrange equations and balanced controllers for the robot system are also under the consideration in [8]. Accounting for the manners of that a human wire-walker, the wire-walking robot proposed in [7]- [8] can approximately imitated the balance regulating activities of a real human walker, but its translational pole is driven by a parallelogram mechanism that is rotating about a horizontal axis, thus there may be some difference to a vertically swing arms of a real wire-walker. Moreover, the rotational pole and the translational pole in [7]- [8] are structural independent for each other, which should be a lot of difference to a real human wire-walker.…”

“…Moreover, in [3], Lu developed a dynamical model by use of Lagrange equations and discussed the balance controller for the system. In [7]- [8], Guo etc. suggested a wire-walking robot that featured a rotational pole and a translational pole.…”