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题名: Dynamic modeling and simulation of a novel wall-climbing robot
作者: Dong WG(董伟光) ; Wang HG(王洪光) ; Jiang Y(姜勇)
作者部门: 空间自动化技术研究室
会议名称: 2013 2nd International Conference on Measurement, Instrumentation and Automation, ICMIA 2013
会议日期: April 23-24, 2013
会议地点: Guilin, China
会议主办者: Korea Maritime University; Hong Kong Industrial Technology Research Centre; Inha University
会议录: Applied Mechanics and Materials
会议录出版者: Trans Tech Publications Ltd
会议录出版地: Zurich-Durnten, Switzerland
出版日期: 2013
页码: 1180-1185
收录类别: CPCI(ISTP) ; EI
ISSN号: 1660-9336
ISBN号: 9783037857519
关键词: Adhesion ; Computer simulation ; Dynamic models ; Mobile robots
摘要: The dynamic modeling and simulation of a novel wall-climbing robot is presented. For the novel biped-wheel hybrid locomotion mechanism of the robot, its locomotion modes and typical state of motion are analyzed. Based on the description of the robot's pose, the dynamic model for two typical states of motion, point turning in a flat surface and transition between two intersecting surfaces, is established. The equation for calculating adhesion force when the robot moves on arbitrary inclined surfaces is derived from the dynamic model. Simulations for the adhesion force are implemented with three typical examples. The results show that the tilt angle of the attachment surface and the motion direction of the robot have great influence on the adhesion force. © (2013) Trans Tech Publications, Switzerland.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/12406
Appears in Collections:空间自动化技术研究室_会议论文

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