Adsorption Wall Climbing Robot Research

Wall-Climbing Robots, which belong to the special-type robots, are widely used in fields like wall-washing, firefighting and measurement for its feature of working in vertical or high spots.Firstly, the paper summarizes some results on existing research and development of wall-climbing robot, and analyzes the developing trend of wall-climbing robots.On mechanical design of suction wall-climbing robot, a vacuum suction scheme is suggested. The robot in plan possesses feet-type movement and a kind of variable thickness soft acetabulas which are driven by vacuum-pump.After the concept design, the thesis introduces modeling function and design methods of SolidWorks. Then, taking the leg as an example, the author describes the parts modeling, assemblies modeling and analyzing modeling in detail by SolidWorks.The paper analyzes some common gaits. After that, a periodic gait and its way of realization are described in detail.On control system design, the paper firstly analyzes control principle and ways of leg actuator, and promotes an applied control method for wall-climbing robot. Then a control system is presented after analyzing and comparing vacuum suction methods among different feet-type wall-climbing robots. The paper finally develops a control system for the robot based on Handy Board.