Kinematics and gait planning of wall-climbing quadruped robot for pipeline inner wall

A wall-climbing quadruped robot for pipeline inner wall with negative pressure adsorption was investigated, which was used to detect the inside of gas insulated switchgear (GIS). The kinematics of the legs and body of the robot was analyzed, and an improved Newton iteration method was used to solve the complex problem of the body's forward kinematics. The gait planning of the robot climbing along the axial and circumferential direction of the pipeline was carried out, and a zero-impact trajectory planning method was proposed. Adams was applied for motion simulation, and the omnidirectional wall climbing experiments of horizontal and vertical pipelines were carried out with the robot prototype. Results showed that the robot's trajectory was consistent with the planned gait, and there was no sudden change in velocity and acceleration during the movement. The movement process was stable without noticeable impact. The correctness of the kinematic model and the rationality of the planned gait were verified. The robot was applied to the actual detection of the GIS pipeline, and the stable wall climbing motion and detection under different working conditions were realized. © 2021, Zhejiang University Press. All right reserved.