Design and simulation of a wheeled-legged power plant inspection robot
ObjectiveFor the inspection of power plants, a novel wheeled-legged inspection robot was proposed, integrating the characteristics of wheeled and legged robots.MethodsFirstly, a knee joint power switching device was designed to improve the reusability of motors. Secondly, the suspension of the robot...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2025-06-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#DOI：10.16578/j.issn.1004.2539.2025.06.011 |
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| author | DENG Yangtai WU Binghui |
| author_facet | DENG Yangtai WU Binghui |
| author_sort | DENG Yangtai |
| collection | DOAJ |
| description | ObjectiveFor the inspection of power plants, a novel wheeled-legged inspection robot was proposed, integrating the characteristics of wheeled and legged robots.MethodsFirstly, a knee joint power switching device was designed to improve the reusability of motors. Secondly, the suspension of the robot was designed and simulated, demonstrating that this design can reduce the peak torque of the thigh joint motor. Finally, to enhance the stability of the robot motion, an asymmetric leg layout scheme and a stability control strategy based on supporting polygons were proposed.ResultsValidation through Webots demonstrates the robot’s capability in walking on unstructured surfaces and overcoming obstacles, meeting the requirements of inspection tasks. |
| format | Article |
| id | doaj-art-dd07751035b6459fa2c4e956b659891c |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2025-06-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-dd07751035b6459fa2c4e956b659891c2025-08-20T03:47:13ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392025-06-01498693111081313Design and simulation of a wheeled-legged power plant inspection robotDENG YangtaiWU BinghuiObjectiveFor the inspection of power plants, a novel wheeled-legged inspection robot was proposed, integrating the characteristics of wheeled and legged robots.MethodsFirstly, a knee joint power switching device was designed to improve the reusability of motors. Secondly, the suspension of the robot was designed and simulated, demonstrating that this design can reduce the peak torque of the thigh joint motor. Finally, to enhance the stability of the robot motion, an asymmetric leg layout scheme and a stability control strategy based on supporting polygons were proposed.ResultsValidation through Webots demonstrates the robot’s capability in walking on unstructured surfaces and overcoming obstacles, meeting the requirements of inspection tasks.http://www.jxcd.net.cn/thesisDetails#DOI：10.16578/j.issn.1004.2539.2025.06.011Wheeled-legged robotStructural designSize optimizationStability control strategy |
| spellingShingle | DENG Yangtai WU Binghui Design and simulation of a wheeled-legged power plant inspection robot Jixie chuandong Wheeled-legged robot Structural design Size optimization Stability control strategy |
| title | Design and simulation of a wheeled-legged power plant inspection robot |
| title_full | Design and simulation of a wheeled-legged power plant inspection robot |
| title_fullStr | Design and simulation of a wheeled-legged power plant inspection robot |
| title_full_unstemmed | Design and simulation of a wheeled-legged power plant inspection robot |
| title_short | Design and simulation of a wheeled-legged power plant inspection robot |
| title_sort | design and simulation of a wheeled legged power plant inspection robot |
| topic | Wheeled-legged robot Structural design Size optimization Stability control strategy |
| url | http://www.jxcd.net.cn/thesisDetails#DOI：10.16578/j.issn.1004.2539.2025.06.011 |
| work_keys_str_mv | AT dengyangtai designandsimulationofawheeledleggedpowerplantinspectionrobot AT wubinghui designandsimulationofawheeledleggedpowerplantinspectionrobot |