灵巧壁面移动机器人运动学和动力学研究

Research for the kinematic and dynamic models of a flexible glass-wall cleaning robot

灵巧壁面移动机器人是一个约束可变的系统 ,其可控性问题有待于证实 .针对履带驱动方式具有非完整约束的性质 ,利用李群理论和微分几何的分析方法 ,对各种构型情况下灵巧壁面移动机器人运动学和动力学特性进行了研究 ,证明了灵巧壁面移动机器人的可控性 ,建立了机器人动力学方程 ,为机器人控制器的设计提供了理论指导 .

A structure for smart wall-climbing robot was proposed. The conception of Lie Group and differential geometry were used in the robot controllability analysis. The kinematic and dynamic models of the robot were described. The expression of Lagrange multiplier was acquired to represent the magnitude of the constraint force.