Motion Simulation And Key Technology Research Of Walking Type Pneumatic Wall Climbing Robot

The wall climbing robot is a kind of high altitude limit operation device, which needs to change the position in the process of executing the task. It requires that the mobile mechanism has good performance, and the adsorption mechanism can provide a stable and reliable adsorption capacity. Therefore, the virtual prototype model of wall climbing robot is built to simulate the performance of the wall climbing robot in the design phase, and the improvement is made to the adsorption mechanism. To a large extent, it can avoid the design defects, improve the crawling performance, and enhance the stability of the wall climbing robot in the harsh working environment. This dissertation takes an action type pneumatic wall climbing robot as the research object,and the following aspects are studied in this paper.(1) Design and mechanical analysis of a walking type pneumatic wall climbing robot. A walking type full pneumatic wall climbing robot is designed,and the condition of static stable adsorption is obtained and finally established the dynamics model of the movement in the process based on the Newton Euler method.(2) Motion simulation of wall climbing robot based on ADMAS and AMEsim.Firstly, the virtual prototype model of wall climbing robot and the equivalent model of the cylinder output force are established by ADMAS and AMEsim respectively, and the output force of the cylinder is obtained. Secondly, the output force of the cylinder is simulated by using STEP function, and the STEP function input to the virtual prototype model is used to realize the motion simulation of wall climbing robot.Finally, the correctness and feasibility of the wall climbing robot is verified.(3) Structure improvement of vacuum chuck. Firstly, the internal structure of the common flat chuck is improved by using the principle of multi cavity design. Secondly,through the fluent14.0 Ansys, the flow channel model of the common suction cup and the improved suction cup is established, and the adsorption state of the model is simulated. Finally, it is proved that the improved suction cup has a stronger adsorption capacity when the leakage occurs.(4) Pressure loop design of wall climbing robot. Firstly, the working principle of the walking wall climbing robot is analyzed, and the requirement of the design of the pneumatic circuit is put forward. Secondly, speed loop and vacuum breaking circuit isdevised, and climbing wall robot’s pneumatic circuit layout is designed out.Based on the above, a walking type pneumatic wall climbing robot is developed successfully. Crawling experiments show that: the wall climbing robot is very flexible.It is stable and reliable in the adsorption capacity and walking process under static condition, but also has certain ability of obstacle.