Dynamic Characteristics Study And Simulation Analysis On Wall Climbing Robot

As one of the key parts of mobile robot, wall climbing robot have been paid moreand more attention and also obtained more and more application. The wheeled wallclimbing robot with vacuum adsorption has simple structure, high efficiency,practicality, ect. The vacuum adsorption is increased in the wheeled mobile robot, andthen it can work at the wall of horizontal or vertical. It can improve work efficiencyand is developed to deliver automation of the dangerous and heavy work.In this paper, a study on dynamic characteristics and dynamic performance ofwall climbing robot was carried out after overall structure design and prototypedevelopment. Then modeling simulation analysis was taken to practices based onvirtual prototyping technology.The structure design of wall climbing robot includes body shell, adsorptionscheme, sealing solutions and movement, the power system and control system. Thenstatic analysis of wall climbing robot including falling and overturn was performedafter overall structure design, the range of adsorption force and the influence whichadsorption force to motion performance and power were obtained. Finally, the wallclimbing robot was designed based on the original wall climbing robot with smallvolume, low cost, flexible moving and adaptive wall, ect.The analysis on dynamic characteristics and dynamic performance of wall climbing robot set the vacuum adsorption in variable. Then kinematics and dynamicsmodeling analysis was performed in pure rolling and steering movement condition.The influence of which the sliding type sucker to steering and movementcharacteristics was analyzed, and it provides a theoretical research foundation formechanism optimization design and motion control.The simulation analysis was made by using three modeling simulation analysissoft wares. At the first, the 3d parametric model is established by usingthree-dimensional modeling software Pro/E. Then the simulation analysis on motioncharacteristics and dynamic characteristics of wall climbing robot was performed byusing the model dynamics simulation software MSC. ADAMS in a virtual environment,and the solution of the optimal value of the driving force and adsorption force wereobtained. Finally, simulation analysis of structure strength of robot body, wheels andother structures were carried out by using finite element software ANSYS. It providesa guiding significance for system optimization design of wall climbing robo...