Research On Multi-DOF Vacuum Adsorption Climbing Robot System

As an important branch of robot,climbing robot can replace human's work of wall cleaning,wall maintenance and metope detection.In the transportation industry,the climbing robot can detect and maintain the bridge.In the earthquake and other disaster,the climbing robot can turn over the dangerous wall to conduct the signal survey.Climbing robot is also widely used in the nuclear industry,and mainly used to detect whether the container is damaged or not.In this paper,the climbing robot is a platform which can be used for secondary development in various industrial applications.Based on studying a pile of information about climbing robot at home and abroad,this paper has mastered the development trend of climbing robot and opened the thinking for the study of climbing robot.Then,based on analysis of the mechanical structure of climbing robot at home and abroad,this paper puts forward the key problems involved in the research of climbing robot and points out the research direction of the climbing robot.From the application direction and the characteristics of application scenarios of climbing robot,this paper puts forward the scheme of mechanical structure which is based on the principle of vacuum adsorption,and it also puts forward the vacuum adsorption system design and system power supply scheme.In this paper,UG is used for modeling,then the mechanical principle analysis and rationality analysis of the proposed mechanical structure scheme are carried out,and the theoretical analysis and introduction of vacuum adsorption system are carried out.After finishing the design of mechanical structure,this paper uses the D-H parameter method to analyze the forward kinematics and inverse kinematics of climbing robot.From the angle of judging the sucker foot whether it is stably absorbed on the wall,the adsorption performance of the climbing robot is theoretically analyzed and verified experimentally.Under the premise of climbing robot adsorption safety is guaranteed,on the static stability and dynamic stability of the climbing robot were analyzed,to analyze the static stability and dynamic stability of climbing robot,and to propose a stable robot stance,then the robot's regular gait,obstacle avoidance gait and fixed-point turn gait are planned.In these three kinds of gait planning,the paper focuses on software simulation of rule gait and turn gait,to observe whether there is movement interference and planned gait can be realized.The hardware of the control system designed in this paper is not only able to satisfy the normal drive control of the climbing robot,but also supports the functions such as sucker foot negative pressure detection,inclination detection of climbing robot and wireless command control.The software algorithm of the control system supports three kinds of gait planning,wireless command remote control,linear automatic crawling,walking attitude correction,automatic obstacle avoidance,etc.Finally,from the climbing robot three-dimensional modeling export design drawings,prototype machine manufacturing and assembly,control circuit board welding,vacuum adsorption system installation work.After the successful debugging of the program function on the ground,the safety of wall adsorption and the gait planning theory are verified experimentally.