Research on Modular Construction of Dynamic Models for Wall-climbing Robots
Lü Guizhi
Wang Peng
Li Guohong
Lu Feng
Dai Shenglong
Abstract：The dynamic model is very important to realize the motion performance of wall-climbing robots.However,the dynamic equation of wall-climbing robots is complicated to construct and solve.Based on the basic modeling ideas of analytical mechanics,combined with the Lagrange mechanics method and the Udwadia-Phohomsiri equation,the body part and the driving part of the wall-climbing robot were separately modeled.The dynamic model of the wall-climbing robot without constraints was obtained by combining the models of each part.The dynamic model of the wall-climbing robot without constrained was processed using the method of Udwadia and Phohomsiri,the task trajectory constraint model was processed using the Baumgarte stability correction,and the wall-climbing robot model with constraints was finally obtained.The numerical simulation results verify the rationality of the mathematical model of the wall-climbing robot,and the effectiveness and advancement of the modeling method.
Keywords：Wall-climbing robotDynamics modelingModular modelingUdwadia-Phohomsiri equation
Publication Date：2024-11-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：8( 24-31 )