Research on Modular Construction of Dynamic Models for Wall-climbing Robots
The dynamic model is very important to realize the motion performance of wall-climbing robots. However, the dynamic equation of wall-climbing robots is complicated to construct and solve. Based on the basic modeling ideas of analytical mechanics, combined with the Lagrange mechanics method and the U...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2024-11-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.11.004 |
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| Summary: | The dynamic model is very important to realize the motion performance of wall-climbing robots. However, the dynamic equation of wall-climbing robots is complicated to construct and solve. Based on the basic modeling ideas of analytical mechanics, combined with the Lagrange mechanics method and the Udwadia-Phohomsiri equation, the body part and the driving part of the wall-climbing robot were separately modeled. The dynamic model of the wall-climbing robot without constraints was obtained by combining the models of each part. The dynamic model of the wall-climbing robot without constrained was processed using the method of Udwadia and Phohomsiri, the task trajectory constraint model was processed using the Baumgarte stability correction, and the wall-climbing robot model with constraints was finally obtained. The numerical simulation results verify the rationality of the mathematical model of the wall-climbing robot, and the effectiveness and advancement of the modeling method. |
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| ISSN: | 1004-2539 |