Dynamic modeling and simulation of a novel wall-climbing robot

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 空间自动化技术研究室

	Dynamic modeling and simulation of a novel wall-climbing robot
	Dong WG(董伟光); Wang HG(王洪光); Jiang Y(姜勇)
	2013
会议名称	2013 2nd International Conference on Measurement, Instrumentation and Automation, ICMIA 2013
会议日期	April 23-24, 2013
会议地点	Guilin, China
关键词	Adhesion Computer simulation Dynamic models Mobile robots
页码	1180-1185
中文摘要	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 robot's 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. © (2013) Trans Tech Publications, Switzerland.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	Korea Maritime University; Hong Kong Industrial Technology Research Centre; Inha University
会议录	Applied Mechanics and Materials
会议录出版者	Trans Tech Publications Ltd
会议录出版地	Zurich-Durnten, Switzerland
语种	英语
ISSN号	1660-9336
ISBN号	978-3-03785-751-9
WOS记录号	WOS:000328521200226
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/12406]
专题	沈阳自动化研究所_空间自动化技术研究室
推荐引用方式 GB/T 7714	Dong WG,Wang HG,Jiang Y. Dynamic modeling and simulation of a novel wall-climbing robot[C]. 见:2013 2nd International Conference on Measurement, Instrumentation and Automation, ICMIA 2013. Guilin, China. April 23-24, 2013.