Design, Modeling and Control of a Hybrid Climbing Robot in Manipulation Mode Using Feedback Linearization Control Method

In this paper, design, modeling and control of a grip-based planar climbing robot is performed which is consist of a triangular plate and three actuating legs. This robot is extremely applicable for many applications in which a human operator should climb through a truss infrastructure and implement some manipulations on the relevant installations. The proposed robot in this paper can be substituted and decrease the death danger and increase the safety of operation. In this paper however, a grip-based climbing robot is designed which is able to perform manipulating tasks. Overall kinematics and kinetics of the robot is modeled and its manipulation is controlled using Feedback Linearization for operational phase. All of the modeling are verified by conducting some analytic simulation scenarios in the MATLAB and the results are also compared with the results of the robot which is modeled and simulated in ADAMS software to investigate the correctness of modeling and simulations. It is shown that by the aid of the proposed and designed climbing robot, it is possible to climb and perform a complete operational task through trusses and infrastructures with the best status of safety and accuracy.