The current wheel-foot composite robot mechanism mainly contains wheel-foot combination,separation composite and deformed wheel-foot,which can realize the mobile operation of different obstacle channels,exploration operation of complex unknown environment and sudden emergency rescue and other applications respectively.However,for ships,pressure storage tanks and other metal façade environments,wheel-foot composite wall climbing robots must have all-position autonomous operation capabilities of wall adaptation,barrier crossing and wall transition,and be applied to wall welding,cleaning,inspection and other operational tasks.In comparison with current domestic and international research,wheel-footed composite wall climbing robots have good applicability for engineering applications on vertical and inclined walls,with the ability to adapt to complex curved work surfaces and to cope with unstructured work scenarios.The wheel-footed composite wall climbing structure will have good application prospects in dealing with curvature changes and unstructured walls.
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