爬壁机器人动力学模型的模块化构建研究

Research on Modular Construction of Dynamic Models for Wall-climbing Robots

动力学模型对实现爬壁机器人的运动性能非常重要,但爬壁机器人动力学方程的构造和求解相对复杂。基于分析力学基本建模思想,结合Lagrange力学方法及Udwadia-Phohomsiri方程,对爬壁机器人机体与驱动部分分别建模后加以整合,获得无约束情况下壁面爬壁机器人准确动力学模型;利用Udwadia和Phohomsiri的方法对无约束爬壁机器人的动力学模型进行处理,利用Baumgarte稳定性校正对任务轨迹约束模型进行处理,获得了含约束爬壁机器人模型。数值仿真结果证实,基于所构建爬壁机器人数学模型可方便地实施机器人轨迹跟踪控制,证明了所采用建模方法的有效性和优势。

The dynamic model is very important to realize the motion performance of wall-climbing robots.However,the dynamic equation of wall-climbing robots is complicated to construct and solve.Based on the basic modeling ideas of analytical mechanics,combined with the Lagrange mechanics method and the Udwadia-Phohomsiri equation,the body part and the driving part of the wall-climbing robot were separately modeled.The dynamic model of the wall-climbing robot without constraints was obtained by combining the models of each part.The dynamic model of the wall-climbing robot without constrained was processed using the method of Udwadia and Phohomsiri,the task trajectory constraint model was processed using the Baumgarte stability correction,and the wall-climbing robot model with constraints was finally obtained.The numerical simulation results verify the rationality of the mathematical model of the wall-climbing robot,and the effectiveness and advancement of the modeling method.