Mechanics analysis and dynamic modeling of a wall climbing robot

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.