Research on Modular Construction of Dynamic Models for Wall-climbing Robots

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 robot
• Dynamics modeling
• Modular modeling
• Udwadia-Phohomsiri equation