Design Of A Wall-climing Robot And Research Of Path Planning

As a special type of working robot, wall-climbing robot has been used inmany areas, such as nuclear industry, petrifaction enterprise, building industry,fire fighting and ship building etc. It has been provoking high attention worldwidely ever since it was born in 1960's. It has wide application value. A type of omni-directional wall-climbing robot, which have three functions: driving, turning and overstepping, had developed. This paper introduces the research of pivotal technology such as mechanism designing,kinematics and dynamics, path planning and control system and so on.At first, the author systematically overviews the developing situation of the wall-climbing robot, Based on plenty of relevant research works and bibliographies, and puts forwardthe structure scheme for the robot. The general structure and the realization of function of omnidirectional are discussed in detail, Analysis show the robot possesses certain barrier exceeding ability, run towards all direction in line and definite rotated angel at its original place. The research presented on this paper is valuable to the development of the wheeled mobile robots.The paper sets up mechanics model of the robot when it is immobile makes kinematics analyses, and build up the kinematics equation. The control system is designed from the software and hardware.The paper studies a new type Full-areaObstacle avoidance, namely full-area coverage. The paper adopts the method of roundabout planning for the complex problem of global path planning;which is solved by reducing to some simple problem. For full-area coverage local path planning, the paper adopts fuzzy control algorithm.At last, performance simulation experiments for the robot are made. The outcome of computer simulation proves its accuracy of process and resolution.