Dynamic modeling and analysis of wheeled wall-climbing robot

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