Dynamics Analysis on Wall-climbing Robot with Gap-type Single Suction Cup

摘要

Dynamics of the gap adsorption wall-climbing robot with a new structure of suction cup is studied.The moving performance(operability,drive performance,etc.) of gap adsorption wall-climbing robot is mainly determined by the structure of the wheeled mobile,so it is reasonable and necessary to study the dynamics of the moving structure of wall-climbing.The dynamic model of the robot is constructed based on the Lagrange multiplier equation.The influence of adsorption force and robot sucker azimuth change on climbing robot moving characteristics is analyzed using Matlab/simulink dynamic simulation.As a result,it lays the theoretical foundation for improving and enhancing the movement performance,its structure optimization design and motion control.