Dynamic Modeling and Simulation of a Novel Wall-Climbing Robot

被引：2
|
作者：
Dong, Weiguang [1 ]
Wang, Hongguang [1 ]
Jiang, Yong [1 ]
机构：
[1] Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110016, Peoples R China
来源：
INDUSTRIAL INSTRUMENTATION AND CONTROL SYSTEMS II, PTS 1-3 | 2013年 / 336-338卷
关键词：
wall-climbing robot; dynamic model; wall transition;
D O I：
10.4028/www.scientific.net/AMM.336-338.1180
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The dynamic modeling and simulation of a novel wall-climbing robot is presented. For the novel biped-wheel hybrid locomotion mechanism of the robot, its locomotion modes and typical state of motion are analyzed. Based on the description of the robot's pose, the dynamic model for two typical states of motion, point turning in a flat surface and transition between two intersecting surfaces, is established. The equation for calculating adhesion force when the robot moves on arbitrary inclined surfaces is derived from the dynamic model. Simulations for the adhesion force are implemented with three typical examples. The results show that the tilt angle of the attachment surface and the motion direction of the robot have great influence on the adhesion force.
引用
收藏
页码：1180 / 1185
页数：6
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