SUMMARYIn this paper, design, modeling, and control of a grip-based climbing robot are performed, which consists of a triangular chassis and three actuating legs. This robot can climb through any trusses, pipeline, and scaffolds structures and can perform any inspectional and operational tasks in the high height which decreases the falling danger of operation and increases the safety of the workers. The proposed robot can be substituted for the workers to decrease the risk of death danger and increase the safety of the operation. Since these kinds of infrastructures are truss shaped, the traditional wheel-based climbing robots are not able to travel through these structures. Therefore, in this paper, a grip-based climbing robot is designed to accomplish the climbing process through the trusses and infrastructures in order to perform inspecting and manipulating tasks. Hence, a proper mechanism for the mentioned robot is designed and its related kinematic and kinetic models are developed. Robot modeling is investigated for two different modes including climbing and manipulating phases. Considering the redundancy of the proposed robot and the parallel mechanism employed in it, the active joints are selected in a proper way and its path planning is performed to accomplish the required missions. Concerning the climbing mode, the required computed torque method (CTM) is calculated by the inverse dynamics of the robot. However, for the manipulation mode, after path planning, two controlling strategies are employed, including feedback linearization (FBL) and adaptive force control, and their results are compared as well. It is shown that the latter case is preferable since the external forces implemented on the end effector tool is not exactly predetermined and thus, the controller should adapt the robot with the exerted force pattern of the manipulator. The modeling correctness is investigated by performing some analytic and comparative simulation scenarios in the MATLAB and comparing the results with the MSC-ADAMS ones, for both climbing and manipulating phases. The efficiency of the designed controller is also proved by implementing an unknown force pattern on the manipulator to check its efficiency toward estimating the mentioned implemented forces and compensating the errors. It is shown that the designed robot can successfully climb through a truss and perform its operating task by the aid of the employed adaptive controller in an accurate way.

中文翻译：

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使用自适应力控制方法通过基础设施设计、建模和控制新型操纵攀爬机器人

摘要在本文中，对基于抓握的攀爬机器人进行了设计、建模和控制，该机器人由三角形底盘和三个驱动腿组成。该机器人可以爬过任何桁架、管道和脚手架结构，可以在高处执行任何检查和操作任务，降低了操作坠落的危险，增加了工人的安全。所提出的机器人可以替代工人，以降低死亡危险的风险并增加操作的安全性。由于这类基础设施是桁架形的，传统的轮式攀爬机器人无法穿越这些结构。因此，在本文中，基于抓地力的攀爬机器人旨在通过桁架和基础设施完成攀爬过程，以执行检查和操作任务。因此，为上述机器人设计了适当的机构，并开发了相关的运动学和动力学模型。机器人建模研究了两种不同的模式，包括攀爬和操纵阶段。考虑到所提出的机器人的冗余性和其中采用的并联机构，以适当的方式选择活动关节并执行其路径规划以完成所需的任务。关于爬升模式，通过机器人的逆动力学计算所需的计算扭矩方法（CTM）。然而，对于操纵模式，在路径规划之后，采用了两种控制策略，包括反馈线性化（FBL）和自适应力控制，并比较了它们的结果。结果表明，后一种情况更可取，因为在末端执行器工具上施加的外力不是完全预先确定的，因此控制器应该使机器人适应机械手的施加力模式。通过在 MATLAB 中执行一些分析和比较仿真场景并将结果与​​ MSC-ADAMS 的结果进行比较来研究建模的正确性，包括攀爬和操纵阶段。设计控制器的效率也通过在机械手上实施未知的力模式来检查其在估计上述实施力和补偿误差方面的效率来证明。