| Wall-climbing robots, with the excellent capability of climbing up the vertical andeven inverted wall, greatly expand the space of the robot, therefore it has been widelyapplied to various industries. Wall-climbing robots of magnetic adsorption for the metalwall, attributed to its stable adsorption and high load capacity, play a great role inproduction of shipbuilding, petrochemical and other industries. However, the existingproducts have deficiencies in aspects of wall transition, adaptation and flexibility.For the inadequacies in existing technologies, this paper presents a new type ofwheeled magnetic adsorption unit and expand the study of wall-climbing robot forOcean-going vessels.First of all, in order to ensure the flexible movement of the robot, we design drivingwheel differential driven and driven wheel universal servo motion systems. Through theestablishment of the description of arbitrary position and orientation of the robot, wehave studied the robot mechanical equilibrium in the stationary and motive state,showing out the conditions of stable adsorption of robot and analyzing robot’sperformance at obstacleSecondly, for the lack of the past adsorbed part, we created a new wheeled magneticadsorption unit wit outstanding stability and excellent adaptability. On the basis of thestudy of the magnetic characteristics, with the electromagnetic analysis software Ansoftwe optimize the magnetic field distribution of the adsorption unit, and also calculatethe final optimization results based on the goal of high efficiency and low powerconsumption.At last, in order to achieve the robot’s remote control and cable-free operation, wehave designed a robot embedded control system with the high-performance digitalcontrol chip dsPIC33F as its core. Apart from this, in order to verify the correctness oftheoretical analysis and rationality of the design, we have carried out experiments of theadsorption unit and climbing tests of wall-climbing robot prototype. |
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