间隙式单吸盘爬壁机器人动力特性分析

摘要

Dynamics of the gap adsorption wall-climbing robot with a new structure of suction cup is studied. The moving performance ( operability, drive performance, etc. ) of gap adsorption wall-climbing robot is mainly determined by the structure of the wheeled mobile, so it is reasonable and necessary to study the dynamics of the moving structure of wall-climbing. The dynamic model of the robot is constructed based on the Lagrange multiplier . Equation. The influence of adsorption force and robot sucker azimuth change on climbing robot moving characteristics is analyzed using Matlab/simulink dynamic simulation . As a result, it lays the theoretical foundation for improving and enhancing the movement performance , its structure optimization design and motion control.%研究了带有新型吸盘结构的具有间隙式负压吸附方式特点的爬壁机器人的动力学问题.采用间隙吸附方式的爬壁机器人,其运动性能(可操作性、驱动性能等)主要由轮式移动结构决定,因此对爬壁机器人运动结构进行动力学分析是合理和必要的.基于拉格朗日乘子方程建立了机器人的动力学模型.利用Matlab/Simulink的动力学仿真,分析了吸盘吸附力和机器人方位角变化对爬壁机器人运动特性的影响,为改善和提高机器人的运动性能并为其结构优化设计与运动控制提供了理论研究基础.