Robot Workspace Gait Analysis And Obstacle Climbing Mechanism

As a kind of ultimate robot, wall-climbing robot has become a hotspot of current research in the field of robotics. It can take the place of persons to complete various tasks on the limit condition, and to reduce the difficulty and risk factors of manual work., there has wide application space in the military field and civilian field. As an important branch of the mobile robot, wall-climbing robot relates to robotics, artificial intelligence, intelligent control technology, computer vision technology and some other fields.On the basis of consult material of the wall-climbing robot in and abroad, with it in such as detection survey and other practical tasks as the background. Through comparing the different movement mechanism and surmounting obstacle mode, we proposed a novel mode; it was based on composite rod and has a pair of feet. Combined with the design of obstacle institutions, this paper mainly carries on the analysis in the surmounting obstacle gait of wall climbing and working space of cross arm.Firstly, this paper introduces the current development of wall-climbing robot and the composition of wall climbing robot system. According to the characteristics of wall-climbing robot, do a research on the thoughts of traditional wall-climbing robot, that includes analyzes on the advantages and disadvantages of several kinds of wall-climbing robot. Then, we propose a new surmounting way that based on composite rod after comparing the various negotiation schemes.Analysis of transmission technology is how to achieve. Then, we establish coordinates of working space, analysis of the work space of moving foot, when the obstacle crossing mechanism was in normal operation; it is the maximum range of the end executer moving in space; and using the envelope equation parameter family of surfaces to determine the boundary surface space of end-executer.Finally, according to the requirement of task, we established several typical modes of obstacle-striding, calculated results of its kinematics.Combined with the negotiation module wall size and the robot; we have analysis and calculation of posture and position of the robot gait, solve for several common gait motions to establish the gait function library for the purpose.