Modeling and simulation analysis of new rigid-flexible coupling wall-climbing robot's virtual prototype
As for the marine wall-climbing robot with rigid-flexible coupling properties,when setting up a virtual prototype,the crawler is a multi-flexible body connector,and it is difficult to establish a matching relationship and dynamic constraints be-tween the rigid body and the flexible body,which makes it impossible to simulate the motion.In this article,in order to solve this problem,according to the DAE modeling principle and the SI2 integral solution method,a rigid-flexible separation modeling scheme is proposed.A rigid-flexible coupling wall-climbing robot is designed,which is composed of a rigid body frame and a flex-ible crawler moving mechanism.Through this modeling program,the robot's virtual prototype featuring the multi-body dynamics is subject to modeling and simulation in an effective manner.The results show that the robot's obstacle-climbing ability improves by 3 mm.Based on this virtual prototype model,the actual prototype is produced and tested,which has verified that the design of the rigid-flexible coupling wall-climbing robot is reasonable and the rigid-flexible separation modeling scheme is feasible.This study provides new reference for the multi-body dynamic modeling of virtual prototype in the field of crawler robots.
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