Study On Bionic Adhering Mechanism And The Climbing Mechanism Of Wall-climbing Robots Based On Sma

At present,the climbing mechanism in wall-climbing robot adopts the negative-pressure suckers.Large volume will be needed in the process of generating enough negative pressure.With the bionic principle of attachment,and the fast-developed bionic intelligent material shape memory alloy a new mechanism method to design attachment device in wall-climbing robot is available.This new design method will give great help to the practical application and intellectualization of wall-climbing robots,therefore has great research value.Base on the property of SMA drive,kinds of bionic multilocular suckers are designed and devised in this thesis.A bionic multilocular sucker drived by a single-way Shape Memory Alloy(SMA)spring is made and analyzed in mechanics viewpoint.Its feasibility is validated by experiment.In addition,the whole frame of a six-foot wall-climbing robot is designed by imitate the structure of six-foot insects.Detailed design and analysis are carried on to its transmission system.The guiding mechanism is realized by combining Pro/e three dimensional designs and the Matlab simulation method.This mechanism allows bidirectional approximate straight path.It can crawl in both vertical direction and horizontal direction, which supplies a new way for robot to change its direction.Debugging and experiment are conducted to this climbing mechanism.The feasibility and stability are proved,which establishes foundation for further study on wall-climbing robots.