爬壁机器人系统的广义Lagrange方程

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爬壁机器人系统广义Lagrange方程的建立有助于推动爬壁机器人进一步的发展.通过分析爬壁机器人系统的运动过程,并采用分析力学的方法进行动力学分析,从而建立了该系统的运动微分方程.相较于先前利用其他方法所建立的运动微分方程,基于分析力学的方法具有较大优势.运动微分方程的建立为爬壁机器人系统的对称性研究及柔性爬壁机器人的研制提供了良好的思路.
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