Kinematics and Dynamics Analysis of Obstacle Negotiation Process for a Novel Climbing Robot

Chun Yang; Tianhong Luo

doi:10.16578/j.issn.1004.2539.2019.09.014

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Kinematics and Dynamics Analysis of Obstacle Negotiation Process for a Novel Climbing Robot

Design· Calculation | 更新时间：2022-09-24

- Kinematics and Dynamics Analysis of Obstacle Negotiation Process for a Novel Climbing Robot
- Journal of Mechanical Transmission Vol. 43, Issue 9, Pages: 87-92(2019)
- 作者机构：
  
  1.重庆交通大学机电与车辆工程学院，重庆 400074
  2.重庆文理学院机器人与机电工程学院，重庆 402160
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2019.09.014
  CLC：
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杨春,罗天洪.一种新型爬壁机器人越障过程的运动及动力学分析[J].机械传动,2019,43(09):87-92.

Yang Chun,Luo Tianhong.Kinematics and Dynamics Analysis of Obstacle Negotiation Process for a Novel Climbing Robot[J].Journal of Mechanical Transmission,2019,43(09):87-92.
杨春,罗天洪.一种新型爬壁机器人越障过程的运动及动力学分析[J].机械传动,2019,43(09):87-92. DOI： 10.16578/j.issn.1004.2539.2019.09.014.

Yang Chun,Luo Tianhong.Kinematics and Dynamics Analysis of Obstacle Negotiation Process for a Novel Climbing Robot[J].Journal of Mechanical Transmission,2019,43(09):87-92. DOI： 10.16578/j.issn.1004.2539.2019.09.014.

摘要

提出一种能满足不同避障要求的轮足复合式爬壁机器人，利用凯恩法建立其动力学模型。基于该模型，推导爬壁机器人在极限运动状态下的吸附力方程，并建立稳定性裕度约束条件，获得满足稳定性要求最小吸附力与机器人极限运动状态的函数关系。在不同避障要求的工作环境下，为合理控制吸附力大小提供理论依据。

Abstract

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.

关键词

越障轮足复合爬壁机器人凯恩法稳定性动力学分析

Keywords

Obstacle negotiationBiped-wheel hybridWall-climbing robotKane's methodStabilityDynamics analysis

references

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刘延柱.多体系统动力学［M］.北京：高等教育出版社，2014：270-323.

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