Dynamics Modeling and Analysis of a Rolling Sealed Wall-climbing Robot

被引：2
|
作者：
Qin J. [1 ,2 ,3 ]
Chang Y. [1 ,2 ]
Yuan B. [1 ,2 ,3 ]
Fu X. [4 ]
Wang T. [1 ,2 ]
机构：
[1] State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang
[2] Institute for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang
[3] Shenyang Institute of Automation, University of Chinese Academy of Sciences, Shenyang
[4] China Three Gorges Corporation, Beijing
来源：
Zhongguo Jixie Gongcheng/China Mechanical Engineering | 2019年 / 30卷 / 24期
关键词：
Dynamics modeling; Negative pressure suction; Rolling seal; Wall-climbing robot;
D O I：
10.3969/j.issn.1004-132X.2019.24.012
中图分类号：
学科分类号：
摘要：
A rolling sealed wall-climbing robot was introduced herein and its sealing and motion mechanisms were analyzed. A dynamics modeling method of wall-climbing robots with multi-track coordinated motions was proposed, and the linear motion and steering dynamics equation of the robots were derived. The relationship among the tracked traction forces and the attitude angles of the robot during linear motion and steering was established. The frictional resistance during the motion of the robot using sliding seal and rolling seal was calculated and compared. The simulation and prototype experiments verify that the wall-climbing robot may walk along the wall and overcome obstacles, and has the characteristics of small friction resistance, large load capacity and strong adaptability to wall surfaces. © 2019, China Mechanical Engineering Magazine Office. All right reserved.
引用
收藏
页码：2978 / 2985
页数：7
相关论文
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