Design And Research Of Vertical Climbing Robot

The vertical climbing robot is a kind of mechanical device that can walk on the wall and perform the work automatically.The robot is equipped with different tools to perform tasks such as cleaning the glass curtain wall,inspecting the wall of the pipe,and painting the ship.Its work is to substitute human for working at height.Through the comparison of different adsorption and driving methods,it is determined that the robot adopts multiple suction cup negative pressure adsorption and motor driven overall schemes.The kinematics model of the robot is established by D-H parameter method,the position coordinates of the robot end are solved by forward kinematics analysis,and the joint variables are deduced by inverse kinematics equation.According to the design goals of the robot,the mechanical structure design of the robot housing,moving mechanism and adsorption device was completed with Solid Works software.The robot has the characteristics of light weight,wide application range and strong obstacle surmounting ability.The robot uses the method of alternating adsorption of inner and outer suction cups to climb.Through three rotating joints,the robot has realized the obstacle crossing process from ground to wall.The model of robot parts is determined by parameter calculation.A virtual prototype model of the robot was established in the ADAMS simulation environment,and the kinematics simulation was performed to verify the stability of the robot.The robot was optimized for weight reduction using ANSYS software.The static analysis confirmed that the structural material meets the rigidity and strength requirements.The modal analysis verified the rationality of the inherent vibration characteristics of the structure.The control system design adopts a modular design concept,which is selected from STM32 single-chip microcomputer,servo control module,stepper motor drive module and solenoid valve control module.The main program flow chart of the software system is designed according to the robot motion process.Figure 62;Table 6;Reference 55.