爬壁机器人系统的广义Lagrange方程  

Generalized Lagrange Equation for Wall-climbing Robot System

作　　者：陆晓丹 张港 LU Xiaodan;ZHANG Gang(School of Sciences,Zhejiang Sci-Tech University,Hangzhou 310018,China;Zhejiang Tongji Vocational College of Science and Technology,Hangzhou 311231,China)

机构地区：[1]浙江理工大学理学院,杭州310018 [2]浙江同济科技职业学院,杭州311231

出　　处：《机械工程师》2022年第3期4-8,共5页Mechanical Engineer

基　　金：浙江省水利厅科研项目(RC1963);国家自然科学基金项目(11872335)。

摘　　要：爬壁机器人系统广义Lagrange方程的建立有助于推动爬壁机器人进一步的发展。通过分析爬壁机器人系统的运动过程,并采用分析力学的方法进行动力学分析,从而建立了该系统的运动微分方程。相较于先前利用其他方法所建立的运动微分方程,基于分析力学的方法具有较大优势。运动微分方程的建立为爬壁机器人系统的对称性研究及柔性爬壁机器人的研制提供了良好的思路。The establishment of the motion differential equation of the wall-climbing robot system is helpful to promote the further development of the wall-climbing robot.By analyzing the movement process of the wall-climbing robot system and using the method of analytical mechanics to analyze the dynamics,the motion differential equation of the system is established.Compared with the differential equations of motion established by other methods,the method based on analytical mechanics has great advantages.The establishment of the differential equations of motion provides a good idea for the study of the symmetry of the wall-climbing robot system and the development of the flexible wall-climbing robot.

关 键 词：爬壁机器人系统 动力学分析 LAGRANGE函数 LAGRANGE方程 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]