Research Of Permanent Magnetic Wall-climbing Robot On Obstacle-crossing And Wall-transition

The development of society has provided a wide range of applications for robots.As an important branch of robots,wall-climbing robots have attracted more and more attention from society and academia.Because of the great adsorption force and no need of peripheral energetic equipment,the magnetic adsorption wall-climbing robot are widely used.The existing magnetic adsorption robots are divided into contact adsorption and non-contact adsorption.However,they all have problems such as poor environmental adaptability,poor obstacle-crossing capability,unstable adsorption,and easy tipping.This seriously hinders the robot's application in actual environment.In the face of the existing problems,this paper designs a permanent magnet adsorption wall-climbing robot to have a good ability to obstacle-crossing,and at the same time it can achieve the transition in the three-dimensional space on the right-angled wall,thereby enhancing the ability of the wall-climbing robot to adapt to the environment.Firstly,the mechanical structure of the wall-climbing robot is designed.The software ANSYS/Maxwell 3D was used to analyze the magnetic field of the permanent magnet,and the suitable permanent magnet adsorption structure was selected through comparative analysis.Then the 3D design software SolidWorks was used to design the part structure and the overall 3D structure of the wall-climbing robot.Finally,an experimental prototype of a wall-climbing robot was made.Secondly,the conditions of security adsorption and the laws of speed and displacement changes of the wall-climbing robot are achieved through mechanical analysis.An ANSYS/Maxwell 3D simulation model of wall-climbing robots was established to simulate the change of magnetic force when the wall-climbing robot was in motion,and the characteristics of the magnetic field under the case of obstaclecrossing or wall transitions were obtained;Through the contrast analysis of the wall transition of a single motion module and the wall transition of the wall-climbing robot,the structural advantages of the split-type wall-climbing robot are pointed out.The simulation results have important guiding effects on the experimental design.Then,ADAMS software is used to perform dynamic simulation of wall-climbing robots,including the crawling on vertical wall,obstacle-crossing,wall-transition and other movement states,the characteristics of the speed,displacement and driving torque of the wall climbing robot were obtained,and the feasibility of the design was verified.Finally,the experiment was designed to test the prototype of the wall-climbing robot.The experimental results show that the wall-climbing robot can complete the tasks of crawling,obstacle-crossing and wall-transition.