Design Of Wall-Climbing Robot And Research On Dynamic Performance

A wall-climbing robot is the robots for limited operation, aiming to take the place of human beings to work under hazardous environments such as nuclear power plants, petrochemical enterprises, architecture, fire fighting and shipbuilding etc. It has a wide application and high practical value. Wall-climbing robots have greatly provoked word wide attention ever since it was born in the 1960s. A wail-climbing robot based on canker-worm discussed in this thesis is the robot that inspects and maintenance the wall surface in the upper air. In order to solve the key technical problems, the design and performance of wall-climbing robot are studied in this dissertation. The primary matters are as follows.This dissertation studies the general structure of the adsorption of vacuum wail-climbing robot, and presents the passive absorption creatively, and the stability problem of the robot can be transformed into the instabilities of the robot plane. The stability conditions of the robot and the judging rules for the leading instability are discussed. The quantitative relation between the stability of the robot and the attracting force of vacuum adsorption is given.After analyzing of the motion principle of canker-worm wall-climbing robots, the robot is equated with a special joint mobile robot. Through theoretic research, the general dynamic model and kinematic model are proposed, and the general method for trajectory planning is presented.Based on the motion principle of canker-worm wail-climbing robot, this paper proposes the trajectory planning of scheduling motion of line and vertical surface of intersection, so as to solve the problem of the wall-climbing robot transient in the vertical surface of intersection.This dissertation accomplishes the hardware and software designing of the control system. Considering the practical attitude errors in the robot's wall surface testing tasks, we study the attitude control algorithms of canker-worm wail-climbing robots and propose a PID controller.Based on all the design and performance studies above, this dissertation develops the model machine of the canker-worm wail-climbing robot, and makes experiments straightly on its motion performance. These experiments indicate that the robot testing system has large load capability, reliable motion stability, high localization precision and highly automatic level. It greatly improves the efficiency of wall surface testing.