基于变质量系统力学理论的爬壁机器人动力学分析

一类工作在高空危险环境下的爬壁机器人，自身拖曳的电缆或携带的作业原料（如清洗液、油漆等）的质量随着作业高度和进度可能发生变化，势必会影响机器人的壁面牵引驱动能力，而牵引能力决定了机器人的运动能力和工作可靠性．基于变质量系统力学理论，将这一类爬壁机器人系统看作变质量物体．首先，针对质点动力学的两类基本问题，利用变质量牛顿力学原理建立其动力学模型；进一步针对轮式爬壁机器人，建立了非完整约束条件下的变质量系统分析动力学模型．仿真分析表明，将这一类在高空作业的爬壁机器人作为变质量物体进行动力学分析是合理和必要的，为提高其壁面工作能力和适应性提供了一种新的研究思路．

Dynamics Analysis of Wall-climbing Robots Based on Variable Mass System Mechanics Theory

For wall-climbing robots(WCRs) working at hostile environments at high altitude,the mass of the tethered electric cables or the carried working materials(e.g.,washing liquid,paint) may change with the operating height and the working progress.The variable mass can affect the traction force which determines the locomotion capability and the operational reliability of WCRs.Based on variable mass system mechanics theory,the robotic system is regarded as a variable mass object.For the two basic particle dynamic problems,the dynamic model is given based on variable mass Newton mechanics.Then,the variable mass system dynamic model with nonholonomic constraints are developed for wheeled WCRs.Simulation results show that it is reasonable and necessary to study this kind of WCRs by regarding them as variable mass objects.The new research technique can be utilized to increase the service ability and the adaptability to wall surfaces of WCRs.