ass日本风韵熟妇pics男人扒开女人屁屁桶到爽|扒开胸露出奶头亲吻视频|邻居少妇的诱惑|人人妻在线播放|日日摸夜夜摸狠狠摸婷婷|制服 丝袜 人妻|激情熟妇中文字幕|看黄色欧美特一级|日本av人妻系列|高潮对白av,丰满岳妇乱熟妇之荡,日本丰满熟妇乱又伦,日韩欧美一区二区三区在线

A wallclimbing robot can be used for the rust removal task of fishing vessels. And the robot is inevitably required to surmount weld seam when operating on the hull plate. For the wallclimbing robot with inflatable wheels and suspended magnet, the compression of the tires is decreased after surmounting weld seam, which leads to an increase in the air gap between the magnet and the hull plate with a following decrease in the magnetic adsorption force. Thus the load capacity of wallclimbing robot is weakened, which affects the reliability of wallwalking. In order to solve the problems mentioned above, a research on the dynamic process of the wallclimbing robot surmounting weld seam was carried out. Firstly, based on the drivewheel tires simplified as spring dampers, a dynamics model of the wallclimbing robot surmounting weld seam was established, and the weldseam surmounting process of the drivewheel was divided into different stages. Secondly, a numerical method was proposed to solve the dynamics model. Meanwhile, the motion state of the wallclimbing robot with different values of tire pressure when surmounting weld seam was analyzed. Finally, experiment was carried out and the experimantal results were basically consistent with the numerical simulation ones, which verified the rationality and correctness of the established dynamics model. 