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ASME Press Select Proceedings

International Conference on Control Engineering and Mechanical Design (CEMD 2017)

Editor
Chao Li
Chao Li
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ISBN:
9780791861677
No. of Pages:
324
Publisher:
ASME Press
Publication date:
2018

In this paper, a single wheel robot that runs on a flexible wire was investigated, and the primary concern was about the influence of the wire’s stiffness on the system’s input torques. The robot was characteristics with a couple of parallel swinging arms and a rotational pole. Considering the pure rolling condition of the single wheel running on the flexible wire, a dynamical model was developed for the system by Lagrange equation. With the model, inverse dynamics was simulated referring to different wire’s stiffness. The results show that, the different wire’s stiffness would correspond to different driving input torques, but...

Introduction
Mechanism of the Robot
Dynamical Model
Kinetic Analysis
Dynamic Analysis
Dynamic Simulations under Different Stiffness
Simulation Condition Settings
Inverse Dynamics Calculating
Summary
Acknowledgement
References
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