Design of a Mobility Scheme for a Wall-Climbing Robot
In this paper,a self-propelled brush-clearing robot that can crawl around the exterior of a wind turbine tower is investigated.Firstly,the performance index of the project was determined according to the functional requirements of the wall-crawling robot.Then,with the help of MATLAB calculation to derive the relationship between the hinge clamp angle,chassis height and tower diameter,the suspension design scheme was determined.Finally,a finite element analysis of the permanent magnet adsorption device was car-ried out by ANSYS software to determine the parameters such as the material,shape,size,and thickness of the yoke iron of the permanent magnet suitable for this design.