Mechanism Design and Dynamical Modelling of a Flexible-Wire-Walking Robot with Swinging-Arms and Rotational Pole

Abstract

Abstract-In order to investigate the principles of a wire walker who maintains balance by rotating or moving a pole left and right, a novel single wheel robot that can runs on a flexible wire was designed and its dynamics was studied. The robot features a couple of parallel swinging arms and a rotational pole. Under the precondition of pure rolling of the single wheel that runs on a flexible wire, a dynamical model for the system was developed by use of Lagrange equation. The results illustrated that the robot was an under-actuated system consisting of seven DOF (degree of freedom) and there was three driving-torque inputs in the system. By using the model, an inverse dynamics simulation of balanced moving was performed, and through the comparisons of the amount of driving work and system's energy, the results of the model analysis was testified.