An approach for dynamic modeling of climbing robot

XU Yaru; LIU Rong

doi:10.13700/j.bh.1001-5965.2017.0097

Volume 44 Issue 2

Feb. 2018

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Abstract

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Journal of Beijing University of Aeronautics and Astronautics > 2018 > 44(2): 280-285.

ZHANG Pan-Feng, LIU Ai-Bing, WANG Jin-Junet al. Numerical simulation on flow induced by plasma actuator based on phenomenological model[J]. Journal of Beijing University of Aeronautics and Astronautics, 2010, 36(1): 52-56. (in Chinese)

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XU Yaru, LIU Rong. An approach for dynamic modeling of climbing robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(2): 280-285. doi: 10.13700/j.bh.1001-5965.2017.0097(in Chinese)

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An approach for dynamic modeling of climbing robot

doi: 10.13700/j.bh.1001-5965.2017.0097

XU Yaru,
LIU Rong^,

School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

More Information

Corresponding author: LIU Rong, E-mail:rliu@buaa.edu.cn
Received Date: 27 Feb 2017
Accepted Date: 24 Apr 2017
Publish Date: 20 Feb 2018

Abstract

Abstract

With the aim of dynamic modeling of the climbing robot with dual-cavity structure and wheeled locomotion mechanism, an analytical dynamic model based on the Udwadia-Kalaba equation is established. The desired trajectory, which is regarded as constraints imposed on the system, is integrated into the dynamic modeling process of climbing robot dexterously. The explicit expression of additional torques required to satisfy constraints and explicit dynamic equation of the system without Lagrange multiplier are obtained. However, constraint violation arises when the initial conditions are incompatible with the constraint equations. Baumgarte's constraint violation stabilization method is considered for constraint violation suppression. The simulations of the varying law of the generalized coordinate variables and the trajectories are performed to demonstrate that this modeling method is feasible and effective.
- climbing robot,
- constraints,
- dynamic modeling,
- Udwadia-Kalaba equation,
- Baumgarte's constraint violation stabilization method

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References(16)

References

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