Multi-body dynamics model of crawler wall-climbing robot-Reference-Cited by-同舟云学术

Multi-body dynamics model of crawler wall-climbing robot

Published:2022-08-09 Issue:4 Volume:236 Page:535-553
ISSN:1464-4193
Container-title:Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics
language:en
Short-container-title:Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics

Author:

Fang Yi¹,Wang Shuai¹²^ORCID,Cui Da¹^ORCID,Bi Qiushi¹,Yan Chuliang¹

Affiliation:

1. School of Mechanical and Aerospace Engineering, Jilin University, Changchun, China

2. State Key Laboratory of Internet of Things for Smart City and Department of Electrical and Computer Engineering, University of Macau, Macao, People’s Republic of China

Abstract

In this paper, a crawler-type wall-climbing robot with negative pressure adsorption is designed. The dynamic model of the robot is established based on the method of discretizing the force load of the track shoe. The correctness of the kinematic model and dynamic model is proved by comparing two different ways of virtual prototype simulation and prototype experiment. According to the simulation results of the dynamic model and virtual prototype, the influence of design parameters on the motion performance of the wall-climbing robot is analyzed. The smaller the speed difference between the two tracks of the robot, the longer the gauge between the two tracks, and the greater the inclination of the adsorption wall, the larger the turning radius of the robot will be. The research content based on this paper can provide a new design optimization method and theoretical basis for improving crawler wall-climbing robots and crawler vehicles.

Funder

The Science and Technology Development Fund, Macau SAR

Publisher

SAGE Publications

Subject

Mechanical Engineering,Condensed Matter Physics

Link

http://journals.sagepub.com/doi/pdf/10.1177/14644193221099110

Reference38 articles.

1. Wall-Climbing Robot with Active Sealing for Radiation Safety of Nuclear Power Plants

2. Gunryu III: reconfigurable magnetic wall-climbing robot for decommissioning of nuclear reactor

3. Design and experimental verification of an intelligent wall-climbing welding robot system

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