摘要：With the aim of dynamic modeling of the climbing robot with dual-cavity structure and wheeled locomotion mechanism, a succinct and explicit equation of motion based on the Udwadia–Kalaba equation is established. The trajectory constraint of the climbing robot, which is regarded as the external constraint of the system, is integrated into the dynamic equation dexterously. A modified numerical method is considered to reduce the errors because the numerical results obtained by integrating the constrained dynamic equation yield the errors. The trajectories are almost coincident by comparing the modified numerical value and the theoretical value. The driving torques required to guarantee the climbing robot to move along the given trajectory are obtained explicitly, which overcomes the disadvantage of obtaining dynamical equation from traditional Lagrange equation by Lagrange multiplier. The simulations are performed to demonstrate that the dynamical equation established by this method with brevity and accuracy is in accordance with reality status.
