Dynamic modeling and analysis of wheeled wall-climbing robot

被引：1

作者：

Lyu, Guizhi ^{[1
,2
,4
]}

Peng, Wang ^{[1
]}

Guohong, Li ^{[3
]}

Feng, Lu ^{[1
]}

Shenglong, Dai ^{[1
]}

机构：

[1] Beijing Inst Aeronaut Mat, Beijing, Peoples R China

[2] Heze Univ, Sch Mech & Elect Engn, Heze, Peoples R China

[3] Zhuhai Macao Bridge Author, Hong Kong, Peoples R China

[4] Beijing Inst Aeronaut Mat, Spa Town, Beijing 100095, Peoples R China

来源：

ADVANCES IN MECHANICAL ENGINEERING | 2023年 / 15卷 / 06期

关键词：

Wall-climbing robot; dynamic modeling; constraints analysis; constrained violated stabilization; trajectory tracking; EXPLICIT EQUATIONS; SYSTEMS; DESIGN; MOTION;

D O I：

10.1177/16878132231181247

中图分类号：

O414.1 [热力学];

学科分类号：

摘要：

The dynamic model is very important for the design of a wall-climbing robot and the final realization of its motion performance. The general process of dynamic modeling and expression equations of dynamic models are given for the wheeled wall-climbing robot based on the modeling method of the Udwadia-Phohomsiri equation. Firstly, the dynamic model of an unconstrained four-wheeled wall-climbing robot is constructed. Then, a trajectory constraint is defined, the rationality of the dynamic model for the unconstrained wall-climbing robot is verified by numerical simulation. Again, constraint equations under the conditions of synchronous toothed belt structure, non-lateral motion and nonslip between the driving wheel and the wall surface are established. Finally, the dynamic model of the unconstrained wall-climbing robot is gradually combined with constraint equations, and numerical simulations are implemented. Numerical simulation results verify the correctness of the wall-climbing robot model and constraint models, as well as the effectiveness and advantages of the modeling method.

引用

页数：23

共 36 条

[1] EJBot-II: an optimized skid-steering propeller-type climbing robot with transition mechanism [J].