Dynamic Modeling and Simulation of a Novel Wall-Climbing Robot

Abstract

The dynamic modeling and simulation of a novel wall-climbing robot is presented. For the novel biped-wheel hybrid locomotion mechanism of the robot, its locomotion modes and typical state of motion are analyzed. Based on the description of the robots pose, the dynamic model for two typical states of motion, point turning in a flat surface and transition between two intersecting surfaces, is established. The equation for calculating adhesion force when the robot moves on arbitrary inclined surfaces is derived from the dynamic model. Simulations for the adhesion force are implemented with three typical examples. The results show that the tilt angle of the attachment surface and the motion direction of the robot have great influence on the adhesion force.

A Wind-Turbine-Tower-Climbing Robot Prototype Operating at Various Speeds and Payload Capacity: Development and Validation

“…[14] Other surface defects This is caused by erosion (rain erosion, sand, and hail), or small object impacts. [12] Studies on wind-turbine-climbing robots mostly focused on two important mechanisms: the adhesion and locomotion [15][16][17]. Adhesion is the mechanism that makes firm contact to the surface/object without slipping.…”