Research On The Motion Control System Of Wheel-Footed Wall-Climbing Welding Robot

Welding as the "tailor" in industry is a very important manufacturing method. More and more welding robots are widely put into use, which has been greatly improved the welding efficiency and accuracy. In order to solve the welding problems of nonstructural environments in manufacturing and maintenance of large equipments, the research on welding robot with wall climbing and obstacle overcoming ability in large complex operating fields which is able to complete the welding task in complex structures such as welding fillet weld is given in this paper.The wheel-footed wall-climbing welding robot has both the fastness, flexibility of wheel-typed robots, and the obstacle overcoming ability of foot-typed robots, meets the requirements of obstacle overcoming and all-position moving in nonstructural environments.This paper records an elaborate research on the wheel-footed wall-climbing welding robot. The main work includes four aspects as follow:Firstly, analyze the researching background of wall-climbing welding robot. Propose the general design plan according to the requirements of the project.Secondly, introduce the mechanism composition of the wall-climbing welding robot, especially the 5-DOF manipulator, the wheel unit, the lifting mechanism and the adhesion unit. The feasibility of the plan is proved through the simulation.Thirdly, analyze and simulate the robot. Modeling and simulation on 5-DOF manipulator are applied to verify its validity. The 6 wheel driven differential steering model is built and simulated in the interference environment to prove that the robot has the ability of steering.Finally, build the control system based on CAN bus. Write the corresponding controlling program and the interface aiming at this wall-climbing welding robot. Corresponding experiments are carried out to show its ideal effect of motion and welding.The results of simulation and experiments indicate that the wheel-footed wall-climbing welding robot can fulfill the prospective design requirements, is capable for welding task in nonstructural environments.