Design And Characteristics Study Of A Pneumatic Wall Climbing Robot Adapting To A Curved Surface

At the present time,the cleaning and maintenance work of the wind turbine tower is primarily completed by manual labor,which has drawbacks like poor efficiency,a long cycle,high cost,and high risk.Therefore,it is critical that tower wall climbing robots take the position of manual labor.The tower barrel is a curved structure,so the robot needs to be able to adjust to different surfaces.This thesis explores a wall-climbing robot structure that can adapt to the surface environment of the outer wall of the wind power tower,based on the surface characteristics of the wind power tower wall and the simulation platform.Firstly,a wall-climbing robot structure scheme utilizing series-type unit modularization is suggested.This is based on the benefits and drawbacks of various current adsorption,walking,and driving methods of wall climbing robots,as well as the working environment of the outer wall of the tower.Secondly,a static analysis of the robot was performed while taking into account the wind load and gravity weight on the outer wall of the wind turbine tower.The most adverse wind load on the robot’s working wall is identified by using the robot’s projection on horizontal,vertical,and transverse sections.The influence of wind stress and gravity load on a mechanical model of the robot body is established and examined.Calculations are made to determine the robot’s safe adsorption conditions in both static and dynamic adsorption modes.Thirdly,the wall-climbing robot’s kinematics are examined,and its kinematic equations are established using the D-H parameter technique.The robot’s forward and inverse kinematics solutions are computed,and the rotation angles of each joint can be resolved using the geographic coordinates of the robot end or the known end joint coordinates.In this study,the motion space of the robot is determined using a simulation tool,and a cloud image of the robot’s motion space is created.Finally,the robot’s virtual prototype is simulated using a dynamic simulation analysis system,which yields the robot’s center of mass’ s displacement,joint angular velocity,torque,and kinetic energy curves.The simulation results show that the designed wall climbing robot’s motion mode is appropriate and can adapt to the curved surface motion environment of the wind turbine tower’s outside wall.The design plan mentioned above is workable.