A Wall Climbing Robot Arm Capable of Adapting to Multiple Contact Wall Surfaces

Bian, Shiyuan; Xie, Dongyue; Wei, Yunjie; Xu, Feng; Tang, Min; Kong, Deyi

doi:10.1007/978-3-030-27532-7_9

Cited by 3 publications

(2 citation statements)

References 28 publications

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“…According to different working environment and structure requirements, there are a variety of adsorption and moving modes for currently developed climbing robots. 6–12…”

Section: Introductionmentioning

confidence: 99%

“…According to different working environment and structure requirements, there are a variety of adsorption and moving modes for currently developed climbing robots. [6][7][8][9][10][11][12] The construction of dynamic models is an important step in the research and development of wall-climbing robots, because the dynamic models play important roles in the design of robot control algorithm to achieve motion performance. 13 In the literature reported of recent years, when designing wall-climbing robots with different structures and functions, the dynamic modeling methods of wall-climbing robots mainly includes vector mechanics method based on Newton Euler equation [14][15][16][17][18][19] and analytical mechanics method based on Lagrange equation.…”

Section: Introductionmentioning

confidence: 99%

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Dynamic modeling and analysis of wheeled wall-climbing robot

Lyu

Wang

Li³

et al. 2023

Advances in Mechanical Engineering

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The dynamic model is very important for the design of a wall-climbing robot and the final realization of its motion performance. The general process of dynamic modeling and expression equations of dynamic models are given for the wheeled wall-climbing robot based on the modeling method of the Udwadia-Phohomsiri equation. Firstly, the dynamic model of an unconstrained four-wheeled wall-climbing robot is constructed. Then, a trajectory constraint is defined, the rationality of the dynamic model for the unconstrained wall-climbing robot is verified by numerical simulation. Again, constraint equations under the conditions of synchronous toothed belt structure, non-lateral motion and nonslip between the driving wheel and the wall surface are established. Finally, the dynamic model of the unconstrained wall-climbing robot is gradually combined with constraint equations, and numerical simulations are implemented. Numerical simulation results verify the correctness of the wall-climbing robot model and constraint models, as well as the effectiveness and advantages of the modeling method.

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“…According to different working environment and structure requirements, there are a variety of adsorption and moving modes for currently developed climbing robots. 6–12…”

Section: Introductionmentioning

confidence: 99%