| Citation: | 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)
|
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.
| [1] |
XU F, SHEN J, JIANG G P.Kinematic and dynamic analysis of a cable-climbing robot[J].International Journal of Advanced Robotic Systems, 2015, 12(7):1-17. doi: 10.5772/60865
|
| [2] |
PROVANCHER W R, JENSEN-SEGAL S I, FEHLBERG M A.ROCR:An energy-efficient dynamic wall-climbing robot[J].IEEE/ASME Transactions on Mechatronics, 2011, 16(5):897-906. doi: 10.1109/TMECH.2010.2053379
|
| [3] |
NAM S, OH J, LEE G, et al.Dynamic analysis during internal transition of a compliant multi-body climbing robot with magnetic adhesion[J].Journal of Mechanical Science and Technology, 2014, 28(12):5175-5187. doi: 10.1007/s12206-014-1141-z
|
| [4] |
BRAUN D J, GOLDFARB M.Eliminating constraint drift in the numerical simulation of constrained dynamical systems[J].Computer Methods in Applied Mechanics and Engineering, 2009, 198(37):3151-3160. http://www.sciencedirect.com/science/article/pii/S0045782509002011
|
| [5] |
PAN D, GAO F, MIAO Y.Dynamic research and analyses of a novel exoskeleton walking with humanoid gaits[J].Proceedings of the Institution of Mechanical Engineers, Part C:Journal of Mechanical Engineering Science, 2014, 228(9):1501-1511. doi: 10.1177/0954406213509611
|
| [6] |
KORAYEM M H, SHAFEI A M.A new approach for dynamic modeling of n-viscoelastic-link robotic manipulators mounted on a mobile base[J].Nonlinear Dynamics, 2015, 79(4):2767-2786. doi: 10.1007/s11071-014-1845-8
|
| [7] |
UDWADIA F E, KALABA R E.A new perspective on constrained motion[J].Proceedings:Mathematical and Physical Sciences, 1992, 439(1906):407-410. doi: 10.1098/rspa.1992.0158
|
| [8] |
CHO H, YU A.New approach to satellite formation-keeping:Exact solution to the full nonlinear problem[J].Journal of Aerospace Engineering, 2009, 22(4):445-455. doi: 10.1061/(ASCE)AS.1943-5525.0000013
|
| [9] |
LIU J, LIU R.Dynamic modeling of dual-arm cooperating manipulators based on Udwadia-Kalaba equation[J].Advances in Mechanical Engineering, 2016, 8(7):1-10. http://mechanicaldesign.asmedigitalcollection.asme.org/article.aspx?articleid=1732160&resultClick=1
|
| [10] |
HUANG J, CHEN Y H, ZHONG Z.Udwadia-Kalaba approach for parallel manipulator dynamics[J].Journal of Dynamic Systems, Measurement, and Control, 2013, 135(6):1012-1030. http://dynamicsystems.asmedigitalcollection.asme.org/article.aspx?articleid=1732160
|
| [11] |
PENNESTRI E, VALENTINI P P, DE FALCO D.An application of the Udwadia-Kalaba dynamic formulation to flexible multibody systems[J].Journal of the Franklin Institute, 2010, 347(1):173-194. doi: 10.1016/j.jfranklin.2009.10.014
|
| [12] |
ZHAO H, ZHEN S, CHEN Y H.Dynamic modeling and simulation of multi-body systems using the Udwadia-Kalaba theory[J].Chinese Journal of Mechanical Engineering, 2013, 26(5):839-850. doi: 10.3901/CJME.2013.05.839
|
| [13] |
BAUMGARTE J.Stabilization of constraints and integrals of motion in dynamical systems[J].Computer Methods in Applied Mechanics and Engineering, 1972, 1(1):1-16. doi: 10.1016/0045-7825(72)90018-7
|
| [14] |
SCHUTTE A, UDWADIA F.New approach to the modeling of complex multibody dynamical systems[J].Journal of Applied Mechanics, 2011, 78(2):856-875. http://cat.inist.fr/?aModele=afficheN&cpsidt=23937551
|
| [15] |
UDWADIA F E, KALABA R E.What is the general form of the explicit equations of motion for constrained mechanical systems[J].Journal of Applied Mechanics, 2002, 69(3):335-339. doi: 10.1115/1.1459071
|
| [16] |
CHO H, UDWADIA F E.Explicit solution to the full nonlinear problem for satellite formation-keeping[J].Acta Astronautica, 2010, 67(3):369-387. http://www.sciencedirect.com/science/article/pii/S0094576510000615
|
Figures(9)
Copyright © Journal of Beijing University of Aeronautics and Astronautics
Address: Editorial Department of Journal of Beijing University of Aeronautics and Astronautics, 37 Xueyuan Road, Haidian District, Beijing Post Code: 100191 Email: jbuaa@buaa.edu.cn
Supported by:
Beijing Renhe Information Technology Co., Ltd.
DownLoad:
