The Structural Design And Topological Optimization Of Wall-climbing Robot

The locomotive ability with holding load of wall-climbing robot on the wall provides the possibility of implementing a variety of high-altitude limit operations.A new type of wall-climbing robot was developed through the analysis of the research status of structural optimization design of domestic and foreign in this paper,and the purpose of optimizing the key structural components for light weight and rationalization has been specifically studied.The main research work of this paper includes the following points:(1)The overall design of wall-climbing robot.The requirements and perform ance indicators was setted by summarizing the research status of domestic and foreign wall-climbing robots,and then a new wall-climbing robot structure sche me was developed from the aspects of adsorption method,moving mode,drivi ng mode,and load capacity,which adopts the method of alternating movement of inner and outer layers.Finally,the design and three-dimensional modeling of each part of the organization are conducted,and the optimization requiremen ts of the main structure were proposed.(2)Topological optimization of key components for wall-climbing robot.Firstly,the analysis results of the variable density method and the asymptotic structure method in the topological optimization form were compared through a concrete example.Then,the SIMP and RAMP interpolation models of the variable density method were analyzed,and the topological optimization mathematical model was established and solved.In addition,the key parts of the wall climbing robot was selected to been optimized by using ANSYS Workbench,which taken the volume occupied by the structural solid material as the constraint variable.Finally,the quality,stress and deformation of the pre-and post-optimization results were compared and analyzed to determine the final optimization plan.(3)Prototype construction and experimental study of the wall-climbing robot.In the experiment,a solid prototyping platform for wall-climbing robot was constructed,and the movement ability and load capacity of the wall-climbing robot were tested to verify the overall structure of the wall-climbing robot and the feasibility and reliability of the optimized structure.The theoretical analysis and experimental results show that the wall climbing robot platform developed in this paper has the characteristics of strong adsorption capacity,flexible and stable walking,and strong load capacity.Through the topological optimization design of the key parts for the robot body,which can meet the standard of lightweight and rationalization of structural design.