Kinematics Analysis Of Mobile Welding Robot And Design And Simulation Of Complex Wheel

The wall-climbing robots are special robots, mainly operating on the slant andvertical wall. As weld metal parts can engage more and more attention, especiallylarge welded structures more and more, which requires a lot of welding work siteoperations. In large equipment manufacturing process, Especially non-weldedstructure of space, due to its heavy workload, work space complex, resulting inwelding operations difficult, in this case wall-climbing robots could play a significantrole. Autonomous mobile welding robot can effectively improve the efficiency oflarge-scale welding, reduce manufacturing costs, improve the working environmentand labor intensity.This topic comes from the "small space rotating arc welding robot sensing wheeldrive mobile key technology research all-wheel steering (51265036)." Four-wheeldrive and all-wheel differential steering mobile robots to select permanent magnetadsorption, proposed a permanent magnetic composite wheel can increase the frictionforce which can in ensuring the permanent magnetic attraction force premise.Analysis the forces when robots adsorbed on the vertical wall, prevent its horizontaland vertical overturning, computing power and select motor.Build kinematics model of the robot. Elaborate the four-wheel drive andall-wheel steering robot principle, build the errors modeling of the robot. Trackingand analying a given line-arc-line weld in Matlab, get the coordinates of the trackingerror of the robot, get the steering precision,to provide a basis for the design of therobot.In order to understand the permanent magnet composite wheels in motion statusof each member of the movement, building its virtual prototype by using ADAMSsoftware, get running attitude and trajectory curve of each component.Numerical simulation using ANSYS software for permanent magnet3-D staticmagnetic composite wheel simulation, get the magnetic adsorption force, themagnetic flux density and magnetic flux density vector contours. Optimizing thestructure of composite wheel from the thickness of the aluminum block and large yoke. By the size of the gap between the simulation components to obtain itsmagnetic attraction force curve, explaining the reasons for the simulation data is toolarge.Single and four composite wheels adsorption force and friction experiments toobtain experimental data adsorption and friction,verified the reasonableness of thecomposite wheel design, feasibility wall-climbing robots provide a foundation.