The working environment of the wall-climbing robot is complex,and it usually needs to crawl on a non-single working wall surface,and the traditional wall-climbing robot can not adapt to the curved surface,right Angle and step wall surface.Therefore,this paper proposes a flexible attachment dual-track wall-climbing robot,which increases the walking area through the track,and makes use of the advantages of permanent magnet adsorption to prevent slippage,and flexibly connects the two tracks to successfully achieve smooth transition of different walls.The mathematical model of the safe adsorption on the vertical wall and the transition of the wall is established,and the safe adsorption constraint that the robot can not slide on the vertical wall under the action of the adsorption force is obtained.The three-dimensional model of the two-track motion mechanism is established by using SolidWorks,and the model is imported into ADAMS software to analyze its dynamic characteristics and verify the reliability of the flexibly connected two-track motion control device.Finally,the wall transition ability of the robot is verified by experiments.The flexible two-track wall-climbing robot designed has a good crawling ability to adapt to multiple working walls,and can provide a theoretical basis for the design of non-single working wall crawling robot.
关键词
爬壁机器人/吸附式/壁面过渡
Key words
wall-climbing robot/wall transition/adsorption type
万方数据