Design And Research Of A Wall-climbing Robot Based On Electromagnetic Adsorption

Based on the derusting,grinding,and welding of large metal devices such as tanks and ships.For the problems of harsh environments,high danger,and low efficiency faced by traditional operations,An structure of a linear foot-climbing robot based on electromagnetic absorption is proposed,and the innovative design of the mechanism,kinematics analysis,movement coordination,and job feasibility analysis is completed.Based on the analysis and selection of adsorption mode,walking mode and driving mode,The overall design of the wall-climbing robot is proposed.According to the principle of mechanism design,the structural design of each component is completed and the relevant components are determined the specific size.The three-dimensional model of the robot was drawn using the software of SolidWorks,and the action principle of the leg mechanism of the robot during the crawling process was analyzed.The kinematics analysis of the mechanism such as speed and acceleration is carried out by establishing the schematic diagram of the leg equivalent plane mechanism,and the forward and reverse solution equations of the position of the leg mechanism are obtained.The Jacobian matrix equations of the input and output of the mechanism are established,and the singular configuration that may be generated during the movement of the parallel leg mechanism is analyzed by the method of Gosselin and Angels.Based on the principle of ensuring the stability and coordination of the robot's walking motion,the trajectory planning of the robot's leg motion is carried out based on the high-order polynomial law,and the function equations of the speed and acceleration of the front and rear sliders with time are established.And the process was simulated by the software of Matlab.A stable plane for the robot's movement is established,and by analyzing the relative positional relationship between the projection point of the robot's center of gravity and the stable plane,two forms of the robot's possible failure are analyzed,namely,sliding along the wall surface and its own overturning.The overall force analysis of the robot is carried out,and the relationship between the adsorption force demand of each adsorption unit and the wall inclination angle is established under the condition that the robot does not fail to move,and the critical minimum adsorption force of a unit is obtained.The further optimization provided a theoretical basis.Figure 33;Table 4;Reference 52...