Dynamic modeling and analysis of wheeled wall-climbing robot

The dynamic model is very important for the design of a wall-climbing robot and the final realization of its motion performance. The general process of dynamic modeling and expression equations of dynamic models are given for the wheeled wall-climbing robot based on the modeling method of the Udwadia-Phohomsiri equation. Firstly, the dynamic model of an unconstrained four-wheeled wall-climbing robot is constructed. Then, a trajectory constraint is defined, the rationality of the dynamic model for the unconstrained wall-climbing robot is verified by numerical simulation. Again, constraint equations under the conditions of synchronous toothed belt structure, non-lateral motion and nonslip between the driving wheel and the wall surface are established. Finally, the dynamic model of the unconstrained wall-climbing robot is gradually combined with constraint equations, and numerical simulations are implemented. Numerical simulation results verify the correctness of the wall-climbing robot model and constraint models, as well as the effectiveness and advantages of the modeling method.