Kinematic Modeling and Magnetic Adsorption Design of Crawler Wall-climbing Robot
To improve the wall attachment stability of a crawler wall-climbing robot equipped with high-pressure water jet devices and the structural characteristics of the designed wall-climbing robot,the kinematic model of a wall-climbing robot adsorbing on the ship wall is established.The factors affecting the wall attachment performance of the wall-climbing robot are analyzed and solved.Its magnetic adsorption unit is designed,and the relationship between the magnetic force and gap of the magnetic adsorption unit in the N-S magnetization and the Halbach magnetization direction is analyzed.With the help of the tensile testing machine,the reliability of the permanent magnetic adsorption unit is tested and verified.For the functional prototype,tests of indoor horizontal walking and vertical wall climbing of a 1∶1 real ship model are carried out to verify the correctness of the analysis results,thus paving the way for the further structural optimization design and dynamic analysis of the crawler wall-climbing robot.