Model And Motion Control Of Multi-legged Wall-climbing Robot And Its Application In Bridge Inspection

Nowadays,micro-computer has been developing so rapidly,and variety of robots are activein people’s common lives.Such as industrial robots used in industrial plant,special robots usedin underwater,high altitude,corrosive and radiation environment where for human isdangerous and inconvenient to reach,as well as entertainment robots.Considering such a difficult task for a bridge inspection,this paper do a researchconcerning multi-legged wall-climbing robot.Firstly,the paper describes multi-legged wall-climbing robot’s development status athome and abroad,and learns the robot kinematic,dynamics knowledge,then proposes a designthat consist of six-legged wall-climbing,vacuum suction cups and motor-driven method.Secondly,this paper finish the selection of robot control system and the design of both ofhardware and software platforms.It contains as follows:CAN-bus mode,ant colony algorithmpath planning,triposd gait planning and the end of track curve.Finally, Considering the safety of multi-legged wall-climbing robot in its aloft work, thepaper proposes a security-based feet-force optimal distribution method for multi-leggedwall-climbing robot by raising a idea of security factor. Firstly, based on the switch of jointdriving force and plantar contact force, a feet force optimization model of multi-leggedwall-climbing robot is built, and robot’s kinematic and dynamic constraints are confirmed too.This method calculate the relationship of security factor and adsorption forces by using PSOalgorithm objective to minimize energy consume. The method mentioned can reduce thenumber of optimization variables,and it represents the relationship between the security factorand the unknown environment, so as to improve the surrounding adaptation ability ofmulti-legged wall-climbing robot. At last,a simulation results prove the validity of such amethod.The robot technology used to complete construction make it safer and more secureinstead of manual operation.The development and application of robot technology helps toincrease productivity,the multi-legged wall-climbing robot is produced in the case of bridge inspection,and it will be used in more fields,as well as contributes to all sectors.