Research On Key Technologies Of The Wall-climbing Robot With Triangular Magnetic Tracks

The wall-climbing robot refers to such robot which can move on the vertical wall and replace manual working and is applied widely in extreme environment Because of the relatively poor obstacle-climbing performance of the traditional robot,a new magnetic adsorption wall-climbing robot with 4 triangular tracks is designed and the research on the wall climbing robot is carried out.The main research contents include the following aspects:First of all,By comparing the advantages and disadvantages of various types of robots,the new robot uses permanent magnet adsorption,triangle track wheel,and the power comes from electric motor.The overall structure of the wall climbing robot is designed,including the adsorption structure,transmission structure.Because the permanent magnet can't adjust the magnetic force,Magnetic adjustment structure is designed,which can adjust the magnetic force according to the working face.Next,in order to avoid the danger of shedding and slipping in the working face,four kinds of working states are analyzed,including moving forward,crawling and turning around.The mechanical model is established,the minimum magnetic adsorption force and the output torque of the electric motor are determined.Then,the creeping-obstacle way and the turning-over obstacle way are discussed,including maximum height of climbing over obstacle in each case.The dynamic model for the turning-over obstacle process is built by using d'Alambert principle,which describes the influence of structure size on motor' torque.Based on this model,the minimum driving torque for the turning-over obstacle process can be determined.The height of the centroid of the robot body is optimized with the MATLAB software,which reduces the output torque and improves the stability of the robot in the process of turning-over obstacle.Finally,the virtual model is established with the ADAMS software,three kinds of working states are simulated,including moving forward,turning around and turning-over obstacle,and the simulation results are compared with the theoretical results.Static analysis is performed on some key components with the Workbench software.