机器人Issue(3)：264-270,7.DOI:10.13973/j.cnki.robot.2015.0264
一种轮足复合式爬壁机器人动力学建模与分析
Dynamics Modeling and Analysis of a Wall-Climbing Robot with Biped-Wheel Hybrid Locomotion Mechanism
摘要
Abstract
For a wall-climbing robot, solution of the reasonable values of adhesion force in different states is studied. Firstly, a biped-wheel hybrid locomotion mechanism including closed loop constraint is analyzed and split into open chain mechanisms according to motion equivalence principle. Dynamic model of the open chain mechanism is built using Newton-Euler method. Based on the dynamic model and the critical conditions for motion failure as constraint function, the adhesion force model is built for the wall-climbing robot moving on arbitrarily inclined surface. Then, the reasonable values of adhesion force in different states can be obtained. The simulation and experiments show that the parameters obtained by the force model can ensure adhesion safety. Therefore, the model constructed is reasonable and can provide theoretical basis for reasonable control of adhesion force in various motion states.关键词
爬壁机器人/轮足复合/动力学模型/吸附力Key words
wall-climbing robot/biped-wheel hybrid/dynamics model/adhesion force分类
信息技术与安全科学引用本文复制引用
董伟光,王洪光,姜勇..一种轮足复合式爬壁机器人动力学建模与分析[J].机器人,2015,(3):264-270,7.基金项目
国家自然科学基金资助项目（61179049）． （）
