Research On The Tracked Wall-climbing Robot With Bioinspired Compliant Spine Mechanism

Bioinspired wall-climbing robots with spines which imitates the gripping principle on rough surfaces of insect's sharp claws or spines on their feet are capable of clinbing on steep or even vertical rough walls.They have a wide application prospects in bridge inspection,disaster search and rescue,military reconnaissance,asteroid detection and other fields.The previously bioinspired wall-climbing robots with spines usually adopt legged locomotion whose feet grip on the rough surface alternatively.Compared with the robot body size,area of their feet are small,and the adaptability of spines on their feet to the complex morphology of rough wall surfaces is insufficient,which affects the stability and reliability of the robot.In this thesis,considering the distribution characteristics of the surface topography of the actual wall,the probability model of spine attachment on the rough wall is established,and carried out the design and analysis of the compliant structure of spine foot.A tracked wall climbing robot is developed,which can achieve continuous and stable crawling on the rough wall.The main achievements and innovations are as follows:Considering the distribution of microprotuberances on the rough wall and the randomness of spine contacting with the wall,the distribution characteristics of several typical rough wall microprotuberances and the statistical characteristics of spine attaching on the wall are analyzed through experimental tests.The random probability model of spine attachment on the wall is established,and the statistical model of spine attaching force on the wall is further established.Aiming at the problem that the coupling of tangential and normal stiffness of the existing spine compliant mechanism causes difficulty in the overall mechanism design,a spine compliant mechanism constrained by endoskeleton is designed,which realized the independent design of its tangential and normal stiffness,Calculated and analyzed the stiffness matrix of the spine compliant structure,and the effectiveness of the design is verified.Based on the spine compliant mechanism,the spine foot mechanism was designed and developed;combined with the statistical model of gripping force,the gripping force of spine foot on typical rough wall was analyzed,and the validity of the statistical model is verified by the gripping experiment of spine foot.In order to solve the problem of spine detachment caused by the rotation of the track,a tracked wall-climbing robot with a dual-track track guiding mechanism is designed.Simulation analysis and experimental results show that under the guidance of the dual-track mechanism,the spine foot move to the tail of the robot The prototype robot of the tracked wall-climbing robot can stably climb on different rough walls such as bricks,sandpaper,etc.,which verifies the effectiveness of the robot design.The research results have broad application prospects and practical engineering significance for improving the crawling stability of the bioinspired wall-climbing robot and auxiliary equipment in a variety of rough wall environments.