Design And Kinematics Analysis Of Four-legged Wall-climbing Robot With Densely Arrayed Micro-spines

Wall-climbing robots have broad application prospects in disaster search and rescue,dangerous environment operations and military reconnaissance,and have become a hot topic in domestic and foreign research.This article proposes a fourlegged wall-climbing robot with densely arrayed micro-spines,which can better solve the problems of poor stability and inability to cross obstacles when the robot is crawling on rough and dusty walls.It expands the application of wall-climbing robots in complex wall environments and has important engineering value.The specific research content is as follows:Firstly,the dynamic and static grasping models of the single claw thorn on the paw of the wall-climbing robot on the wall surface were established respectively,the process of the robot's claw thorn gripping the wall was studied,and the factors affecting the grasping of the claw thorn were analyzed.The results show that the normal grasping force of the claw thorn on the robot paw,the inclination of the contact point between the claw thorn and the wall,and the friction factor between the claw thorn and the wall all have certain effects on the grasping performance of the paw on the wall,which provides a theoretical basis for the design of the paw and the motion design of the grasping process.Secondly,the key parameters which affect the performance of the paw based on densely arrayed micro-spines on the wall were analyzed and modeled,and the optimal values of the design parameters were estimated.At the same time,the failure modes of the single claw thorn on the wall climbing robot paw grasping the attached surface were analyzed,and the maximum load that a single claw thorn can bear under different failure modes was analyzed,based on this,the maximum load that the whole robot paw can bear was calculated.A comparative experiment was carried out on the maximum load that the robot paw with different design parameter values can bear on the wall,which verifies the accuracy of the analysis of the key parameters of the paw and the mathematical model established in this paper.Then,based on the crank and rocker mechanism and the paw-attached form,the leg movement scheme of the wall-climbing robot was studied,the leg mechanism design was completed,the mathematic model of the leg movement scheme was established,and the simulation analysis was carried out.The results show that the movement of the leg mechanism can guarantee the stable and reliable grip of the designed paw on the wall,and the continuous crawling of the robot on the wall is realized.At the same time,the design of the body and tail mechanism of the wallclimbing robot was completed,and the overall structure of the robot was determined.Finally,the gait planning of the wall-climbing robot was analyzed,and the control system of the wall-climbing robot was designed based on the gait planning.At the same time,according to the design scheme of each component of the wall-climbing robot,the production and installation of the robot prototype was completed,the crawling performance of the prototype on the wall was tested.The results show that the robot can climb steadily on an inclined plane with an inclination angle of less than 80°.