Research On Gait Planning And Attitude Control Of Multi-legged Spider Robot In Bridge Inspection

Multi-legged wall climbing robot is a special kind of walking robot，It is an automaticmechanical device applied to the altitude limit job. Its particularity is: adapt to different postureof different circumstances support through adsorption device of plantar, Walking posture is notonly to walk upright, but also including the ceil walking and handstand walk, More important isthat the wall-climbing robots usually is the altitude limit job. So it is higher to securityrequirements.The robot has a very important research significance and practical value, whichcan to be used not only in the field of nuclear industry, architectural, transportation,petrochemical and fire but also in the other fields.First, the paper introduces the current development of the wall-climbing robot at home andabroad, discusses the implementation of the two basic functions for the wall-climbing robot.The body structure of the wall-climbing robot in this topic has been introduced, including themajor component of the design and implementation. Moreover, the paper introduces thehardware and software systems of control.Second, this paper analyzes the robot s safety. Through Sucker suffered force and torqueanalysis, Derived determination of the minimum degree of vacuum conditions.Then,it analyzesthe kinematic for the leg joint of the robot, derives the forward and inverse kinematic equations.On this basis,the paper propose horizontal tripod gait and horizontal square gait, which prepareto climbing at the bottom of bridge.horizontal square gait is advanced from horizontal tripodgait.compare to horizontal tripod gait, horizontal square gait has better stability and security.It ismore suitable to the work environment at the bottom of bridge.and given the control model ofCPG theory,analysis of the impact of various parameters on the control model,The experimentand simulation prove that the optimization method is feasible and effective.At last, this paper uses the simulation software ADAMS modeling of the robot body,Verified straight gait, point turning gait and the gait based on CPG theory, finishes the dynamicgait simulation analysis of the robot through the parameter settings. The result provides a basisfor the development of the physical prototypes, shows the advantages of virtual prototypingtechnology, which plays an important role of reducing the risk of actual physical prototyping.