Design And Research Of Vertical Climbing Robot

In order to realize the modernization of city construction in our country,the urban roads are increasing in our country,which have the tendency to raise the height gradually.At the same time in order to enrich people's cultural life and entertainment,many large recreational facilities were built,such as roller coasters,Ferris wheel,and jump off a building machine and so on.The facilities are usually high,due to long-term bare in the air,rain and fog haze can accelerate the corrosion loss.For security,need regular check to prevent accidents and safety problems.This article mainly aims at common metal pillar in life,Such as square headlights pillar,roller coaster pillar and Ferris wheel stud,research and develop a column climbing robot instead of manpower,and then through the column climbing robot,discover the problems that are existing in the weld metal to avoid the accident.By reading a large number of literature,this paper expounds that the pillar climbing robot research status and the main use occasion at home and abroad.Through investigation,according to the actual demand to design out the robot's overall organization scheme.The mixed assembly modeling method is adopted to complete the whole machine robot modeling.Furthermore the hold mechanism of robot kinematics simulation obtained the displacement,velocity,acceleration,force and friction curve.Design the testing platform to ensure that the robot can test the upright columns in a high altitude.The design of the robot positioning system and obstacle avoidance system realized the autonomous mobile robot.Positioning system using GPS and mileage method combined positioning way to fusion of two positioning modes with the Kalman filter.Then to get the positioning system accurate with Matlab simulation.The robot's obstacle avoidance system adopts fuzzy control algorithm,Analysis the robot encounters obstacles situation,through the function of fuzzy control to realize the obstacle avoidance of robot.