| A wall-climbing robot is of robots for limited operation, aiming to take the place of human beings to work under hazardous environments such as nuclear power plants, petrochemical enterprises, architecture, fire fighting and shipbuilding etc. It has a wide application and high practical value. Wall-climbing robots have greatly provoked worldwide attention ever since it was born in the 1960s.Based on having read lots of home and abroad reference materials, this paper presents the classification and features of wall-climbing robot and introduces the development situation of wall-climbing robot. With considerations of both techniques application, we discussed the technical difficulties in developing wall-climbing robot system. Then we present a prototype, the system includes four foots and four suction cups. The wall-climbing robot makes the whole system stick and move on the surface.The wall-climbing robot system consists of mechanical structure and control system. The paper presents mechanical structure of four-foot-suction wall-climbing robot. According to the number of pulse of step-motor and adsorption state of four suction cup, wall-climbing robot haves relevant movement pace and haves omnidirectional moving ability. And we discuss the choice and control of step-motor.The control system accomplishes the control tasks of driving device and suction device. Two stage computer processing system has been adapted. The up-grade computer is a PC and accomplishes planning routine and control commands. Considering that wall-climbing robot moves on surface of building, command signal transmits in the way of wireless communication. Command signal of up-grade computer transmits through communication module based on nRF401.The low-grade computer accomplishes the control tasks of carrying out command and changing information. |
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