Design And Dynamic Analysis Of Quadruped Climbing Robot

With the rapid development of science technology and society,the demand for robots is increasing rapidly.Most of the walls of tall buildings are glass curtain walls.In order not to affect the daylight and beauty,they need to clean the walls every once in a while.At present,most of the cleaning works on the walls of tall buildings are carried out by people,but this method is highly dangerous and inefficient.As a kind of special robot,wall climbing robot mainly works at high altitude on the vertical wall,so it can build cleaning equipment,detection device and other related equipment on the robot platform,which can replace people to carry out wall cleaning,flaw detection and other related work.Therefore,the purpose of this paper is to design and research a wall climbing robot with strong adaptability,high reliability,flexible movement and obstacle surmounting ability.In this paper,firstly,after in-depth investigation of the existing wall climbing robot technology,a four legged hybrid driving wall climbing robot is designed by adopting the scheme of pneumatic tendon and motor hybrid drive,vacuum adsorption and four legged mobile obstacle surmounting,and the bionic gait planning of the wall climbing robot is carried out.Secondly,according to the designed three-dimensional model,the robot's legs are built based on the D-H coordinate system,and the forward and inverse kinematics analysis,velocity and acceleration analysis of the legs are carried out,and the corresponding specific relationship expression is obtained.Thirdly,the mechanical analysis of the robot is carried out,and the static and dynamic models are established.The condition of safe and stable adsorption is analyzed,and based on the requirements of stable and safe operation,a combined hinged suction cup is proposed;the dynamics of the mechanism is analyzed by Adams,and the moment characteristics of each joint of the leg are obtained.The relevant parameters are brought into the leg dynamics model based on the Lagrange equation,and the comparison curves between the theoretical data and the simulation data validates the rationality and correctness of the simplified dynamics model.At last,considering the requirement of lightweight and stable safety,the structure of the robot is simulated by finite element method,including static stress-strain analysis,modal analysis and random vibration analysis,which verifies the rationality of the structure design.