Joint simulation of the kinematics of a gecko-like quadrupedal wall-climbing robot based on SIMULINK and ADAMS

Zehao Chen

doi:10.1117/12.2638737

20 September 2022 Joint simulation of the kinematics of a gecko-like quadrupedal wall-climbing robot based on SIMULINK and ADAMS

Zehao Chen

Author Affiliations +

Proceedings Volume 12261, International Conference on Mechanical Design and Simulation (MDS 2022); 122610R (2022) https://doi.org/10.1117/12.2638737
Event: Second International Conference on Mechanical Design and Simulation (MDS 2022), 2022, Wuhan, China

Abstract

Wall climbing robots have a wide range of uses in civil, military and aerospace applications, yet there has been little research on the joint kinematic simulation of quadrupedal wall climbing robots. Combining the computational power of MATLAB with the mechanical simulation capabilities of Adams enables the joint kinematic simulation of a quadrupedal wall crawler robot. The quadrupedal wall climbing robot can achieve a sinusoidal smoothly varying diagonal gait.

Citation Download Citation

Zehao Chen "Joint simulation of the kinematics of a gecko-like quadrupedal wall-climbing robot based on SIMULINK and ADAMS", Proc. SPIE 12261, International Conference on Mechanical Design and Simulation (MDS 2022), 122610R (20 September 2022); https://doi.org/10.1117/12.2638737

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