Mechanics analysis and dynamic modeling of a wall climbing robot

Weijie Bo; Xueshan Gao; Fangxing Li; Yitong Ma; Yunfei Cui

doi:10.4028/www.scientific.net/AMR.753-755.2001

Mechanics analysis and dynamic modeling of a wall climbing robot

Weijie Bo
, Xueshan Gao
, Fangxing Li
, Yitong Ma
, Yunfei Cui

Beijing Institute of Technology
Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

A kind of theoretical analysis method in wall climbing robot design is presented in this paper. Using this method, a flexible wall climbing robot is developed that can be well adopted in small irregular places. Firstly, an optimization mechanism is given based on the effective utilization of aerodynamic attraction produced by a centrifugal blower. Kinematics model of the robot is represented, then linear velocity function and angular velocity function of the robot are deduced. Dynamic model based on Lagrange equation is established, which can be a theoretical foundation for control system design. Finally, simulation results show that the dynamic model and the method are reliable since the curves of driving torque match the change of negative pressure.

Original language	English
Title of host publication	Materials Processing and Manufacturing III
Pages	2001-2005
Number of pages	5
DOIs	https://doi.org/10.4028/www.scientific.net/AMR.753-755.2001
Publication status	Published - 2013
Externally published	Yes
Event	3rd International Conference on Advanced Engineering Materials and Technology, AEMT 2013 - Zhangjiajie, China Duration: 11 May 2013 → 12 May 2013

Publication series

Name	Advanced Materials Research
Volume	753-755
ISSN (Print)	1022-6680

Conference

Conference	3rd International Conference on Advanced Engineering Materials and Technology, AEMT 2013
Country/Territory	China
City	Zhangjiajie
Period	11/05/13 → 12/05/13

Keywords

Kinematics and dynamic analysis
Lagrange equation
Nonholonomic constraints
Wall climbing robot

Access to Document

10.4028/www.scientific.net/AMR.753-755.2001

Cite this

@inproceedings{d23342f3280040adb1c3277cb7f1de24,

title = "Mechanics analysis and dynamic modeling of a wall climbing robot",

abstract = "A kind of theoretical analysis method in wall climbing robot design is presented in this paper. Using this method, a flexible wall climbing robot is developed that can be well adopted in small irregular places. Firstly, an optimization mechanism is given based on the effective utilization of aerodynamic attraction produced by a centrifugal blower. Kinematics model of the robot is represented, then linear velocity function and angular velocity function of the robot are deduced. Dynamic model based on Lagrange equation is established, which can be a theoretical foundation for control system design. Finally, simulation results show that the dynamic model and the method are reliable since the curves of driving torque match the change of negative pressure.",

keywords = "Kinematics and dynamic analysis, Lagrange equation, Nonholonomic constraints, Wall climbing robot",

author = "Weijie Bo and Xueshan Gao and Fangxing Li and Yitong Ma and Yunfei Cui",

year = "2013",

doi = "10.4028/www.scientific.net/AMR.753-755.2001",

language = "English",

isbn = "9783037857649",

series = "Advanced Materials Research",

pages = "2001--2005",

booktitle = "Materials Processing and Manufacturing III",

note = "3rd International Conference on Advanced Engineering Materials and Technology, AEMT 2013 ; Conference date: 11-05-2013 Through 12-05-2013",

}

Bo, W, Gao, X , Li, F, Ma, Y & Cui, Y 2013, Mechanics analysis and dynamic modeling of a wall climbing robot. in Materials Processing and Manufacturing III. Advanced Materials Research, vol. 753-755, pp. 2001-2005, 3rd International Conference on Advanced Engineering Materials and Technology, AEMT 2013, Zhangjiajie, China, 11/05/13. https://doi.org/10.4028/www.scientific.net/AMR.753-755.2001

TY - GEN

T1 - Mechanics analysis and dynamic modeling of a wall climbing robot

AU - Bo, Weijie

AU - Gao, Xueshan

AU - Li, Fangxing

AU - Ma, Yitong

AU - Cui, Yunfei

PY - 2013

Y1 - 2013

N2 - A kind of theoretical analysis method in wall climbing robot design is presented in this paper. Using this method, a flexible wall climbing robot is developed that can be well adopted in small irregular places. Firstly, an optimization mechanism is given based on the effective utilization of aerodynamic attraction produced by a centrifugal blower. Kinematics model of the robot is represented, then linear velocity function and angular velocity function of the robot are deduced. Dynamic model based on Lagrange equation is established, which can be a theoretical foundation for control system design. Finally, simulation results show that the dynamic model and the method are reliable since the curves of driving torque match the change of negative pressure.

AB - A kind of theoretical analysis method in wall climbing robot design is presented in this paper. Using this method, a flexible wall climbing robot is developed that can be well adopted in small irregular places. Firstly, an optimization mechanism is given based on the effective utilization of aerodynamic attraction produced by a centrifugal blower. Kinematics model of the robot is represented, then linear velocity function and angular velocity function of the robot are deduced. Dynamic model based on Lagrange equation is established, which can be a theoretical foundation for control system design. Finally, simulation results show that the dynamic model and the method are reliable since the curves of driving torque match the change of negative pressure.

KW - Kinematics and dynamic analysis

KW - Lagrange equation

KW - Nonholonomic constraints

KW - Wall climbing robot

UR - https://www.scopus.com/pages/publications/84884885278

U2 - 10.4028/www.scientific.net/AMR.753-755.2001

DO - 10.4028/www.scientific.net/AMR.753-755.2001

M3 - Conference contribution

AN - SCOPUS:84884885278

SN - 9783037857649

T3 - Advanced Materials Research

SP - 2001

EP - 2005

BT - Materials Processing and Manufacturing III

T2 - 3rd International Conference on Advanced Engineering Materials and Technology, AEMT 2013

Y2 - 11 May 2013 through 12 May 2013

ER -

Mechanics analysis and dynamic modeling of a wall climbing robot

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Publication series

Conference

Keywords

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