Research on the Influence of the Supporting Wire’s Stiffness on the Driving Torque of a Wire-Walking Robot

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 there would be a peek torque at a certain stiffness. The work should offer a useful reference for the driving motors’ selection of the robot system.