Design And Experimental Study Of Multi-principle Composite Climbing Mechanism

Climbing robots are a class of electromechanical systems that can climb and move on certain media surfaces,and play an important role in equipment monitoring,complex environment detection,surface attachment cleaning and other operations.In the natural or artificial environment,the surface of different facilities has different material properties,different surface morphology,and complex surface attachment status,so the climbing mechanism usually developed for specific environmental conditions often shows limitations such as limited ability to climb and move under load and insufficient ability to adapt to environmental changes.This project draws on bionic design ideas and synthesizes common climbing principles to design and develop a climbing mechanism based on multi-principle composite climbing technology,which is used to improve the mobile load-bearing capacity and wall adaptability of climbing robots in complex and variable surface environments.Firstly,from the source of climbing force generation,the climbing mechanism of magnetic adsorption,bionic negative pressure adsorption and bionic barb is investigated,and the design scheme of the combination of crawler passive climbing mechanism and crawler barb climbing mechanism is selected through the combination of scheme comparison,and then the principle of climbing force generation is explained from the perspective of the combination of normal adsorption and tangential climbing force,where the normal adsorption force is mainly composed of integrated magnetic adsorption and negative pressure adsorption The normal force is mainly provided by the tracked passive climbing mechanism with integrated magnetic and negative pressure adsorption,and the tangential climbing force is provided by the barb climbing mechanism attached to both sides of the passive climbing mechanism.Then,the design and development of the tracked passive climbing mechanism were carried out,and the structure of Halbach array was designed for the magnetic adsorption mechanism and the related encapsulation and installation design,and the flexible passive suction cups were designed for the negative pressure adsorption mechanism imitating octopus folds.On this basis,preliminary assembly and testing were carried out,and the instability phenomenon reflected provided experimental support for subsequent improvement.To this end,a new process design of the flexible track and a study of the magnet arrangement on the track were carried out,and finally a new track with a synchronous belt composite conveyor belt and a magnetic adsorption structure with three chain magnet units arranged in staggered phase were produced,which solved the problem of unstable adsorption caused by discontinuous distribution of magnetic force.After that,the barb climbing mechanism on both sides of the robot body is studied,mainly designing the retractable spike unit,the crank slider mechanism to drive the spike extension and the variant connection mechanism between the barb climbing mechanism on both sides and the passive climbing mechanism of the body.The kinematic models of the crank slider mechanism and the variant linkage mechanism are established respectively by the analytical method,and are verified by ADAMS simulation and MATLAB theoretical calculation to provide simulation and theoretical support for the subsequent experiments.Finally,the comprehensive experimental test of the climbing mechanism is carried out.The improved design of the magnetic adsorption crawler climbing mechanism with staggered arrangement was experimentally studied to verify that the improved climbing mechanism achieved an increase in climbing force,which not only made it reach the target of five times the climbing force to dead weight ratio,but also made the robot body achieve vertical and inverted motion on the steel plate.In addition,the basic function,the spike function and the climbing performance under different climbing environments were tested for the robot equipped with the barb climbing mechanism as a whole.After the basic function and spike function tests,the rationality and correctness of the design of the barb climbing mechanism were determined,and the tests on the wooden plate showed that the spike could raise the climbing inclination of the robot from 30° to 50° from unextended when the spike was extended,and the spike left scratches also demonstrated the effect of lateral antagonism against internal forces.At the same time,through the test of different climbing environments,it can be seen that the developed multi-principle composite climbing mechanism has certain climbing ability and good wall adaptability under different climbing environments.