THE EFFECT OF SPRAWL ANGLE AND WALL INCLINATION ON A BIPEDAL, DYNAMIC CLIMBING PLATFORM
THE EFFECT OF SPRAWL ANGLE AND WALL INCLINATION ON A BIPEDAL, DYNAMIC CLIMBING PLATFORM
复制标题
伸展角度和墙壁倾斜度对双足动态攀爬平台的影响
DOI：
10.1142/9789814415958_0059
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发表时间：
2012
影响因子：
2
通讯作者：
Jonathan E. Clark
中科院分区：
文献类型：
--
作者：
J. D. Dickson;Jonathan E. Clark
动物已经显示出以高速和稳定性爬上垂直表面的能力。利用这些动物的潜在动力学，已经开发出了以类似速度爬上垂直表面的机器人平台。假设这些机器人平台的腿的预入射角（通常称为伸展角）可以显著影响垂直速度、效率和稳定性以及被动控制身体振荡。到目前为止，很少有经验的工作已经进行了蔓延角和墙壁倾斜的动态攀爬平台的性能的影响。本文提出了初步的研究，利用生物启发的动态攀登平台，了解动态攀登的影响，蔓延的角度和墙壁倾斜。模拟结果表明，30 °的外展角使总体垂直速度最大化，而实验结果表明，约10 °的外展角使垂直速度最大化，而在这两种情况下，增加外展角会增加所有壁面倾斜度上的横向速度。
Animals have shown the ability to climb vertical surfaces with high speed and stability. Utilizing the underlying dynamics of these animals, robotic platforms have been developed that climb vertical surfaces with similar speed. It is hypothesized that the pre-incidence angle of the legs, commonly referred to as sprawl angle, for these robotic platforms can significantly affect vertical velocities, efficiency, and stability as well as passively controlling body oscillations. To date, little empirical work has been conducted on the effect of sprawl angle and wall inclination on the performance of dynamic climbing platforms. This paper presents initial research utilizing a biologically inspired dynamical climbing platform to understand the effect of sprawl angle and wall inclination on dynamic climbing. Simulations have shown that a sprawl angle of 30◦ maximizes vertical velocity overall, while experimental results show that a sprawl angle of approximately 10◦ maximizes vertical velocity, while in both increasing sprawl angle increases lateral velocities over all wall inclinations.