Optimum Dynamic Modeling of a Wall Climbing Robot for Ship Rust Removal

摘要

This paper presents the optimum dynamic model method for wall climbing robot for ship rust removal. The robot includes a frame, two servomotors and reducers, and two crawlers with permanent magnets for walking and absorbing. Its main function is loading the cleaner which can remove the rust on ship surface by water jetting. Because of the water jetting and vacuum recycle rust, the wall climbing robot need load heavy pipelines. The dynamic models of the robot climbing and turning on the ship wall are established and optimized. The climbing driving torque equation is obtained by considering the change of the weight of pipelines load and the center of gravity position. Finally, the simulation analysis shows that the optimum dynamic model and the optimum method are reliable, and the parameters which have main effect on the robot dynamic characteristic are obtained.