Design And Research Of Adaptive Wall-climbing Robot For Complex Facades With Variable Curvature

In order to address the issue of secure adsorption and stable motion of wall climbing robot on metal facade with variable curvature,this paper proposed a wall climbing robot that can passively self-adapt to different curvature wall surfaces,and deeply investigated the key technologies such as mechanical characteristics of wall surface,permanent magnetic adsorption device,path planning and prototype testing of this wall climbing robot.Firstly,a wall climbing robot was designed based on a double hinge connection scheme and gap type permanent magnetic adsorption with reference to the outer curvature facade structure of a ship,which was able to passively and adaptively adapt to different curvature walls.The robot utilized two relatively independent passive adaptive moving mechanisms and gap type transmissible permanent magnetic adsorption device to achieve effective fitting of the driving wheels to the wall and adaptive surface motion.It could be used in the inspection and maintenance work of variable curvature walls such as ships.Secondly,the static model of the critical failure state of the robot under different working conditions was analyzed to obtain the minimum adsorption force condition to be satisfied by the robot to prevent slipping and tipping.The Newton-Euler dynamic analysis technique was utilized to construct a dynamic analysis model for the robot’s linear and steering motions,thereby studying it’s drive characteristics and determining the drive torque required by the robot.A static finite element simulation analysis of the passive adaptive mobile mechanism was performed to verify its adherence to strength requirements.In addition,a comparative analysis of the magnetic circuit design of the permanent magnet adsorption device was conducted to analyze the distribution of magnetic induction lines and magnetic field strength under different adsorption models,and selected the optimal magnetic circuit design model.Parameterized simulation analysis was conducted on the airgap type permanent magnet adhesion device and the permanent magnet drive wheel.The impact of changes in air gap,wall thickness,and wheel rotation angle during motion on the adhesion force was studied to optimize the structural design of the permanent magnet device.Finally,the kinematic modeling analysis of the robot was carried out,and the research design of the obstacle avoidance walking path planning algorithm was carried out to provide an effective path planning algorithm.The adsorption capability and motion performance of the wall-climbing robot were experimentally evaluated to confirm the accuracy of the static mechanics theory analysis and parameterized simulation analysis,as well as the rationality and feasibility of the overall structural design.