Mechanism Design and Dynamical Modelling of a Flexible-Wire-Walking Robot with Swinging-Arms and Rotational Pole

DOI

10.2991/amms-17.2017.27How to use a DOI?

Keywords

wire-walking robot; flexible wire; dynamical model; lagrange equation

Abstract

In order to investigate the principles of a wire walker who maintains balance by rotating or moving a pole left and right, a novel single wheel robot that can runs on a flexible wire was designed and its dynamics was studied. The robot features a couple of parallel swinging arms and a rotational pole. Under the precondition of pure rolling of the single wheel that runs on a flexible wire, a dynamical model for the system was developed by use of Lagrange equation. The results illustrated that the robot was an under-actuated system consisting of seven DOF (degree of freedom) and there was three driving-torque inputs in the system. By using the model, an inverse dynamics simulation of balanced moving was performed, and through the comparisons of the amount of driving work and system's energy, the results of the model analysis was testified.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Yonghua Huang
AU  - Yaxiong Chen
AU  - Changsheng Wang
AU  - Hao Huang
PY  - 2017/11
DA  - 2017/11
TI  - Mechanism Design and Dynamical Modelling of a Flexible-Wire-Walking Robot with Swinging-Arms and Rotational Pole
BT  - Proceedings of the 2017 International Conference on Applied Mathematics, Modeling and Simulation (AMMS 2017)
PB  - Atlantis Press
SP  - 118
EP  - 123
SN  - 1951-6851
UR  - https://doi.org/10.2991/amms-17.2017.27
DO  - 10.2991/amms-17.2017.27
ID  - Huang2017/11
ER  -