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Alternative TitleDynamics modeling and analysis of a wall-climbing robot with biped-wheel hybrid locomotion mechanism
董伟光; 王洪光; 姜勇
Source Publication机器人
Indexed ByEI ; CSCD
EI Accession number20153001069078
Contribution Rank1
Funding Organization国家自然科学基金资助项目(61179049)
Keyword爬壁机器人 轮足复合 动力学模型 吸附力
Other AbstractFor 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.
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Cited Times:4[CSCD]   [CSCD Record]
Document Type期刊论文
Recommended Citation
GB/T 7714
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,2015,37(3):264-270.
APA 董伟光,王洪光,&姜勇.(2015).一种轮足复合式爬壁机器人动力学建模与分析.机器人,37(3),264-270.
MLA 董伟光,et al."一种轮足复合式爬壁机器人动力学建模与分析".机器人 37.3(2015):264-270.
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