一种爬壁机器人的动力学建模

岳荣刚; 王少萍

一种爬壁机器人的动力学建模

岳荣刚¹,
王少萍²

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

基金项目: 111计划资助项目; LIA项目资助项目

详细信息

中图分类号: TP242.6
计量
- 文章访问数: 1710
- HTML全文浏览量: 101
- PDF下载量: 720
- 被引次数: 0
出版历程
- 收稿日期: 2012-06-05
- 修回日期: 2013-05-07
- 网络出版日期: 2013-05-31

Dynamic modeling for a climbing robot

Yue Ronggang¹,
Wang Shaoping²

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

摘要

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.
- 爬壁 /
- 机器人 /
- 运动学 /
- 动力学 /
- 建模
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.
- wall climbing /
- robot /
- kinematics /
- dynamics /
- modeling

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参考文献(10)

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