Design and Analysis of Wheel-footed Magnetic Adsorption Wall-climbing Robot with Passing Obstacles Capability

doi:10.3901/JME.2024.01.248

Abstract

Abstract: Aiming at the characteristics of the existing wall-climbing robots, such as weak load capacity, poor adaptability to complex obstacle terrain and insufficient motion flexibility, a compliant wall-climbing robot based on wheel-foot compound motion and non-contact variable gap permanent magnet adsorption is proposed. Based on the analysis of the characteristics and functional requirements of the unstructured environment of the equipment operation such as petrochemical tanks and ships, the mobile ontology of the robot is designed and the active passive obstacle crossing gait is planned by integrating the concept of configuration active and passive; The stability of the robot under different working conditions is analyzed, and the mathematical model of robot safety adsorption is established; The dynamic model of the robot under straight travel and steering is established, and the steering flexibility of the robot is analyzed; According to the requirement of intelligent control of robot metal facade, the intelligent control system of robot is designed. The prototype platform experiments show that the robot can achieve flexible active and passive obstacle surmounting, and has the ability of adaptive compliant motion and large load.

Key words: wall-climbing robot, obstacle-climbing gait planning, stability analysis, steering flexibility, intelligent control system

CLC Number:

TP242

ZHANG Xiaojun, WU Yaqi, LIU Haoxue, ZHONG Daofang. Design and Analysis of Wheel-footed Magnetic Adsorption Wall-climbing Robot with Passing Obstacles Capability[J]. Journal of Mechanical Engineering, 2024, 60(1): 248-261.

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