Abstract: A tracked wall climbing robot for ship rust removal is designed, which is adsorbed by permanent magnetic and vacuum mixed adsorption. The robot has the characteristics of heavy body and heavy load, and the load mass and the center of gravity position change with the climbing high. According to the climbing wall working principle, the kinematics models which contain the robot climbing and turning on the ship wall are established. The models are optimized by using fuzzy optimization theory and analyzed by simulation, and the safe working range is planned. Then the kinematics climbing ability is analyzed, and the relation between upward climbing height and ship wall tilt angle is discussed with theoretical torque, maximum torque and rated torque. An experimental prototype is developed for carrying out wall-climbing turning, fixed load climbing and variable load climbing tests. Simulation and test results show that the optimization model is reliable, the permanent magnetic adsorption force, vacuum force and water jet force have little effect on motion performance, but the robot body weight, wall-climbing height and ship wall tilt angle have great effect on it, and the planned safe working range is reasonable.

Key words: Dynamic modeling, Fuzzy optimization, Ship wall rust removal, Simulation analysis, Wall climbing robot