Motion Planning Of A Six-DOF Biped Truss-climbing Robot

Biped truss-climbing robots are composed of a multiple degree-of-freedom body and attached operating devices at both ends.It has superior transition performance and flexible movement capabilities.It can be used to replace humans in carrying out high-altitude tasks.The basis for realizing the autonomous operation ability of the truss-climbing robot is the efficient path planning algorithm and scheme.At present,there is still a lack of reliable and efficient solutions for truss-climbing robot all over the world.This thesis focuses on the six degree-of-freedom biped truss-climbing robot,discusses its collision-free motion planning in the environment of truss members.The main research contents are as follows.By simplifying the working space for geometric intersection test,the rapid transitional ability judgment between the trusses of the truss-climbing robot is realized.The expression method of discretized expansion of trusses is adopted.On the plane of expanded trusses,a quadtree grip map of the transitionable region is generated by combining with the robot kinematics.The reliability of the solution method for the transitionable region is verified by simulation.The global path planning of the six degree-of-freedom biped truss-climbing robot is discussed.Based on the transitional ability judgment,the transitional adjacency matrix of the truss environment is constructed,and the global member sequence is generated through a graph search method.The grasping point planning of the climbing robot is studied.The gait of the truss-climbing robot and the relationship between the turning angle and the moving distance are discussed.A mathematical optimization model for solving transitional grasping point with the minimum number of grasping points as the objective is proposed.A heuristic search strategy for the distribution of grasping points on a single truss is proposed.The effectiveness of the planning algorithm is verified by simulation.The single-step collision-free planning of a six-degree-of-freedom biped truss climbing robot is discussed.By adding auxiliary path points to select the ideal starting and target poses,based on the RRT-connect algorithm,a single-step planner for truss-climbing robots is proposed.The collision-free motion path of the pole-climbing robot from the starting pose to the target pose is obtained through the single-step planner.The effectiveness of the planner is verified by simulation.In summary,the motion planning method of a six-degree-of-freedom truss-climbing robot is studied in this thesis and verifies it through simulation.A reliable collision-free climbing motion path for the truss-climbing robot is provided to perform climbing operations in a complex truss environment.