Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 12, issue 2
Articles | Volume 12, issue 2
https://doi.org/10.5194/ms-12-1073-2021
© Author(s) 2021. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-12-1073-2021
© Author(s) 2021. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 12, issue 2
Research article
 | 
03 Dec 2021
Research article |  | 03 Dec 2021

Swing control for a three-link brachiation robot based on sliding-mode control on irregularly distributed bars

Zhiguo Lu, Guoshuai Liu, Haibin Zhao, Ruchao Wang, and Chong Liu

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Short summary
This paper designs a type of bionic-gibbon robot with three links and two grippers. We apply the sliding-mode control to the swing motion of the robot. The bionic-gibbon robot can complete continuous brachiation motion on the irregularly distributed bars. Besides, compared with the two-link structure, the three-link structure introduced in this paper improves the swing efficiency and increases the swing height of the robot.
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