A Mathematical Model of the Locomotion Mechanism of a Mobile Track Robot with the Magnetic-Tape Principle of Wall Climbing

摘要

A magnetic-tape locomotion mechanism of a wall-climbing robot is developed. A mathematical model of the motion of a mobile robot on vertical surfaces is proposed. The basic hierarchical elements of the mathematical model are considered. A method for automated formation of a set of differential equations for complex mechanical systems is developed. The motion stability of the mobile robot and the dependence of the capacity of drive motors on the locomotion speed are investigated.