The Research On High Adaptability Climbing Robot

Climbing robot is a kind of robot, belong to the limits homework robot. Climbing robot is mainly used in vertical wall and spherical etc, can carry crawling up corresponding equipment, realize the surface cleaning, detection, pipe laying, paint and other functions, is a kind of common used in vertical wall and spherical etc of robot. This research aim is to design reliability, high adaptability, simple control can be independent movement, autonomous obstacle-avoiding climbing robot.Firstly FFROBOT prototype was tested in this paper, according to the existent deficiency of FFROBOT, this paper puts forward SFROBOT plan whicn used combined-type more sucker vacuum absorption, pneumatic&motor drive and free obstacle-navigation institutions consisted of pneumatic muscles and pulley device.The paper constructs a new climbing robot 3D model, designed pneumatic muscles and pulleys brand-new obstacle-navigation institutions and reversed cylinder driving movement organization. Analysed the safety of mobile robot, then designed combined-type chuck configuration group, and make the way of hinged vacuum adsorption system innovation design. Based on DSP TMS320LF2407A robot control system and multisensor environmental detection system was detailed designed.In this paper, the robot's motion in stance in the process of transformation, the position driver control was designed for high-speed switch valves pneumatic servo system by PWM paralleling controlling, established a dynamic model and translational pneumatic cylinder tendon mathematical model of dynamic characteristics, puts forward the PWM/PFM five points switch with PID control strategy.The structural lightweighting design was full considerated, at the request of the intensity of finite element analysis and optimization. Finally simulated pneumatic position servo system with the control strategy, and the result showed this control strategy met robot motion, realize the requirements and steps of robot obstacle-navigation height adjustment, the control precision was in 1mm basically.