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中文摘要：
运动平稳度是衡量磁吸附机器人工作安全性和可靠性的重要指标之一。为解决机器人平稳性运动问题，基于磁吸附机器人运动的工作原理，设计其本体机械结构，分析其在向上、向下以及悬壁面三种位姿状态下的受力状况，建立其力学和运动学模型。利用Matlab／Simulink软件，对机器人在不同位姿运动状况下的瞬时加速度进行仿真。仿真结果表明，该磁吸附机器人的运动模型平稳可靠，为其在爬行作业中能够平稳运动提供理论基础。
英文摘要：
The motion stability is one of the most important indexes to measure the magnetic adsorption robot work safety and reliability. For solving problems of the smooth movement, this paper describes the working principle of the magnetic adsorption robot motion, designs the mechanical structure of the robot body, analyses three kinds of pose state： the upward, downward and the cantilever surface under stress condition, and establishes the dynamics and kinematics model. Then using Matlab/Simulink software simulates the instantaneous acceleration in different position of robot motion. The simulation results show that, the magnetic adsorption robot motion model is stable and reliable, which provides theoretical basis for smooth movement of robot in crawling.
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