Analytical Dynamic Modeling and Simulation of Climbing Robot

LIU Jia; CAI Wenxia; SUN Hongqiang

doi:10.13433/j.cnki.1003-8728.20200067

Volume 40 Issue 3

Mar. 2021

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Article Navigation > Mechanical Science and Technology for Aerospace Engineering > 2021 > 40(3): 371-376

LIU Jia, CAI Wenxia, SUN Hongqiang. Analytical Dynamic Modeling and Simulation of Climbing Robot[J]. Mechanical Science and Technology for Aerospace Engineering, 2021, 40(3): 371-376. doi: 10.13433/j.cnki.1003-8728.20200067

Citation:

LIU Jia, CAI Wenxia, SUN Hongqiang. Analytical Dynamic Modeling and Simulation of Climbing Robot[J]. Mechanical Science and Technology for Aerospace Engineering, 2021, 40(3): 371-376. doi: 10.13433/j.cnki.1003-8728.20200067

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Analytical Dynamic Modeling and Simulation of Climbing Robot

doi: 10.13433/j.cnki.1003-8728.20200067

College of Mechanical and Electrical Engineering, Shijiazhuang University, Shijiazhuang 050035, China

Received Date: 2019-10-18
Publish Date: 2021-03-01

Abstract

Abstract

Climbing robot is a typical rootless multi-body system. It was difficult to establish its dynamical equation with traditional Lagrange equation by means of Lagrange multiplier. A simple dynamics modeling method was presented to covert climbing robot into the multi-body system with fixed base through adding the dynamic nominal mechanism between the robot and the ground reference frame. The dynamical equation without constraint condition was firstly established using traditional Lagrange equation and screw theory. Then dynamical equation of climbing robot subject to some desired trajectory was acquired based on the Udwadia-Kalaba theory, which overcomed the disadvantage of obtaining dynamical equation from traditional Lagrange equation by Lagrange multiplier. The stimulation results of the motion trajectory of climbing robot proved that the dynamical equation established by this method conforms to the matter of fact.
- climbing robot,
- dynamics modeling,
- screw theory,
- Udwadia-Kalaba theory

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References(19)

References

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