北京航空航天大学学报 ›› 2013, Vol. 39 ›› Issue (5): 640-644.

• 论文 • 上一篇    下一篇

一种爬壁机器人的动力学建模

岳荣刚1, 王少萍2   

  1. 1. 中国空间技术研究院钱学森空间技术实验室, 北京 100094;
    2. 北京航空航天大学自动化科学与电气工程学院, 北京 100191
  • 收稿日期:2012-06-05 修回日期:2013-05-07 出版日期:2013-05-31 发布日期:2013-05-22
  • 基金资助:
    111计划资助项目; LIA项目资助项目

Dynamic modeling for a climbing robot

Yue Ronggang1, Wang Shaoping2   

  1. 1. Qian Xuesen Laboratory of Space Technology, China Academy of Space Technology, Beijing 100094, China;
    2. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2012-06-05 Revised:2013-05-07 Online:2013-05-31 Published:2013-05-22

摘要: City-Climber是1台爬壁机器人,为研究该机器人的3D路径规划问题,建立了City-Climber在方形房间内运动的运动学模型和动力学模型,该动力学模型包括3个子模型,机器人在地面、墙壁和天花板的运动分别用1个子模型描述.引入无量纲变量分别对3个子模型进行简化,再用Matlab软件对模型进行仿真,验证了动力学模型的正确性.该模型可用于解决City-Climber在3D环境下的路径规划和避障问题.

Abstract: City-Climber robot is a novel wall-climbing robot which has the capability to move on floors, climb walls, walk on ceilings, and transit between them. In order to research 3D path planning problem, kinematic modeling and dynamic modeling for the City-Climber robot in a cuboid room were built. The dynamics model includes three sub-models which can describe that City-Climber moves on floors, walls and ceilings respectively. Non-dimensional variables were introduced to simplify the models. The correctness of the model was verified by simulation results given by Matlab software since the trajectories match the expected practical motion of the robot. The models are suitable for solving path planning and obstacle avoidance problems in 3D building environments.

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