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The turning power loss in the wheeled locomotion mechanism (WLM) is a key parameter for wall-climbing robots.
移动机构转向功耗是爬壁机器人的关键性能参数。
The structure and locomotion mechanism of the robot are described, and driving mechanics models of the robot system are set up and analyzed.
介绍了机器人机体的构造和运动原理，建立了机器人系统驱动力学模型并做了相应分析。
Optimum results showed that the kinematics precision of steering mechanism is assured even if there are clearances in locomotion joints.
设计结果表明，在运动副存在间隙或间隙变化时，此设计方法能有效保证转向机构的运动精度。
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