Volume 42 Issue 1
Jan.  2023
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WANG Xuejun, ZHANG Fan. Dynamic Modeling and Analysis of Climbing Robot[J]. Mechanical Science and Technology for Aerospace Engineering, 2023, 42(1): 38-45. doi: 10.13433/j.cnki.1003-8728.20200601
Citation: WANG Xuejun, ZHANG Fan. Dynamic Modeling and Analysis of Climbing Robot[J]. Mechanical Science and Technology for Aerospace Engineering, 2023, 42(1): 38-45. doi: 10.13433/j.cnki.1003-8728.20200601

Dynamic Modeling and Analysis of Climbing Robot

doi: 10.13433/j.cnki.1003-8728.20200601
  • Received Date: 2021-03-31
  • Publish Date: 2023-01-25
  • Aiming at the problems of dynamic characteristics and vacuum module force balance in the process of climbing robot crossing obstacles, a climbing robot dynamics characteristic analysis method in the process of obstacle crossing motion is established based on the Lie group, Lie algebra and screw theory. The space velocity Jacobian matrix is deduced in the form of index product space thereby reducing the singularity generated due to the differential derivation, a clear physical meaning low computational complexity dynamic equation is established based on Lagrange equation, Lie group Lie algebra and screw theory. The mechanical model of the vacuum module is established, and the optimal adsorption force of the vacuum module is obtained during the obstacle crossing process. The driving torque of the robot joint is solved by coppeliasim simulation, which verified the correctness and dynamics of Lie group Lie algebra and screw theory modeling. The effectiveness of the scientific model is verified by the adsorption experiment to verify the optimal solution of the adsorption force.
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