Kinematics and Dynamics Analysis of Obstacle Negotiation Process for a Novel Climbing Robot
A wheel-foot composite wall-climbing robot which can meet different obstacle avoidance requirements is proposed, and its dynamics model is established by Kane's method. Based on the model, the adsorption force equation of the wall climbing robot in the limit motion state is deduced, and the sta...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2019-09-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.09.014 |
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| author | Chun Yang Tianhong Luo |
| author_facet | Chun Yang Tianhong Luo |
| author_sort | Chun Yang |
| collection | DOAJ |
| description | A wheel-foot composite wall-climbing robot which can meet different obstacle avoidance requirements is proposed, and its dynamics model is established by Kane's method. Based on the model, the adsorption force equation of the wall climbing robot in the limit motion state is deduced, and the stability margin constraints are established. The functional relationship between the minimum adsorption force satisfying the stability requirements and the limit motion state of the robot is obtained. Theoretical basis is provided for reasonable control of adsorption capacity under different obstacle avoidance working conditions. |
| format | Article |
| id | doaj-art-6055f4f8bcc74c4f8a4eb463f135beba |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2019-09-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-6055f4f8bcc74c4f8a4eb463f135beba2025-01-10T13:57:59ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392019-09-0143879230642326Kinematics and Dynamics Analysis of Obstacle Negotiation Process for a Novel Climbing RobotChun YangTianhong LuoA wheel-foot composite wall-climbing robot which can meet different obstacle avoidance requirements is proposed, and its dynamics model is established by Kane's method. Based on the model, the adsorption force equation of the wall climbing robot in the limit motion state is deduced, and the stability margin constraints are established. The functional relationship between the minimum adsorption force satisfying the stability requirements and the limit motion state of the robot is obtained. Theoretical basis is provided for reasonable control of adsorption capacity under different obstacle avoidance working conditions.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.09.014Obstacle negotiationBiped-wheel hybridWall-climbing robotKane's methodStabilityDynamics analysis |
| spellingShingle | Chun Yang Tianhong Luo Kinematics and Dynamics Analysis of Obstacle Negotiation Process for a Novel Climbing Robot Jixie chuandong Obstacle negotiation Biped-wheel hybrid Wall-climbing robot Kane's method Stability Dynamics analysis |
| title | Kinematics and Dynamics Analysis of Obstacle Negotiation Process for a Novel Climbing Robot |
| title_full | Kinematics and Dynamics Analysis of Obstacle Negotiation Process for a Novel Climbing Robot |
| title_fullStr | Kinematics and Dynamics Analysis of Obstacle Negotiation Process for a Novel Climbing Robot |
| title_full_unstemmed | Kinematics and Dynamics Analysis of Obstacle Negotiation Process for a Novel Climbing Robot |
| title_short | Kinematics and Dynamics Analysis of Obstacle Negotiation Process for a Novel Climbing Robot |
| title_sort | kinematics and dynamics analysis of obstacle negotiation process for a novel climbing robot |
| topic | Obstacle negotiation Biped-wheel hybrid Wall-climbing robot Kane's method Stability Dynamics analysis |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.09.014 |
| work_keys_str_mv | AT chunyang kinematicsanddynamicsanalysisofobstaclenegotiationprocessforanovelclimbingrobot AT tianhongluo kinematicsanddynamicsanalysisofobstaclenegotiationprocessforanovelclimbingrobot |