Research On The Obstacle-Striding Mechanism Of A New Concept Wall Clibmbing Robot

Wall-climbing robot, as one kind of those hazardous environment working robots, was widely used in such area as nuclear power plants, petrochemical enterprises, construction industry, firefighting department and ship manufacturing industry. In recent years, research on those wall-climbing robots that perform anti-terrorism surveillance tasks on the high-building is becoming more and more popular. Different from traditional tasks, it has a higher demand for the robot's mobility and surface adaptability since the terrorism activities usually happens suddenly, with uncertain places and has to be handled immediately.Having analyzed and concluded the advantages and disadvantages of traditional wall-climbing robots, this paper draws up a new robot concept that combines the wheeled robot and legged robot together, thus satisfied both the mobility and surface adaptability. A novel obstacle striding mechanism was designed and fixed on a single suction cup wheeled robot. The mechanism is simple and effective, which is embodied on how the mechanism works and the analysis of the obstacle striding ability based on the geometric dimensions.The mechanical design of the obstacle striding mechanism is of big challenge. The special designed suction cup enables the robot can climb on both smooth and rough surfaces. The mechanism's control job becomes much easier by synchronizing the two arms of the mechanism. Because of the large size and weight, limited payload of the body, the joint-driving motors have to be powerful, small in size and light in weight.Adhesion safety is of first priority to be considered when designing a wall climbing robot. The safety conditions to avoid sliding and falling are given according to static analysis. The kinematics analysis makes the calculation of falling down torque easier, and is helpful for robot's control. The ADAMS simulation verified the design theoretically.The validity of the obstacle striding mechanism has to be held by experiment. A motion control module is designed to control the mechanism. The feasibility was demonstrated since the mechanism achieved a obstacle striding movement.The main job of this paper is about the mechanism's design, analysis and demonstration.