Research On A Little Noise Six Legged Wall-Climbing Robot

Wall-climbing robot is a kind of the utmost application robot, which is widely used in nuclear industry, petrifaction factory, construction industry, fire fighting department and shipbuilding industry. Six legged noiseless wall-climbing micro-robot has glamourous future in military affairs and anti-terror application, because of its small size, good performance of invisibility and maneuverability. Therefore correlative research is count and signality.Structure design is the key that affect the performance of the whole robot. Because of the particular application, wall-climbing robot has restrictions on speed, size, weight, power consumption and passing ability of transition. The robot in this paper can walking ahead, turning about its mass center, go across the convex transition and concave transition on walls and ceilings by using six feet mechanism structure. And with the help of the passive joint on its ankle, it can fit its feet on the surface easily and quickly to increase the moving speed. Further more, this paper proposed a voiceless vacuum generators with plunger structure, so that the robot is hardly noticed.Firstly, the main structure of the robot is designed. Experiment and design of the vacuum producer are presented at begin. Then the analyses of the torque on each joint and the structure design of them are presented in detail. Finally the main structure of the robot is got.Secondly, the moving ability of the robot is analysed. The kinematics model is built at first. Then the moving speed of the robot was reasrched. Finally the passing ability of the robot was analysed and a kind of gait strategy which can be used in real time was proposed too.At last, the mechanics model of the vacuum cup is established. And the load of the cup was computed with the help of force and acceleration sensors, so that this model can be used in real time. Finally the safety of the robot is proved by the analysis of the model which is established above.