Study Of Force Control Technology About Vairable Magnetic Device Of Quadruped Wall Climbing Robot

The technology study on quadruped wall crawling robot is the product of thecombination of foot mobile robot and wall adsorpiton mobile robotics, which involves theresearch of multidisciplinary techno logy, such as mechanical control materials and information.The quadruped wall crawling robot,which with the permanent magnetic adsorpiton is morerelated to the analysis of magnetic ifeld.The research on the quadruped wall-climbing robot，its agencies,mobile gait and force condition, is the basis technology research of the quadrupedwall crawling robot.The variable magnetic feet sucker，which provided the stable adsorptionbetween the quadrupedal wall crawling robot and the wall, its real-time and lfexible control ofthe magnetic force is an important part of the research process on the quadruped wall crawlingrobot.The design which imitating the legs movement joint of the quadruped reptile, thequadruped wall-climbing robot, can achieve360degrees of rotation in place.which isconducive to its regulation of lfexible mobile on the wall and to improve its eiffciency whencarrying tools operating.Using the variable magnetic feet sucker with permanent adsorpitonwhich the magnetic force is adjustable. When with the wall in different pose and motion statethe required force is different，by the lfexibility adjustment to their required magnetic.whichguarantee the premise of stable adsorption，this improving the mobile eiffciency and reducesthe power consumption.The flexible control of feet sucker on the quadruped wall-climbing robot and its variablemagnetic force.is after a large amount of data analysis,through the external angle anddisplacement sensor.The analysis of data operation rate directly determines the foot suckerwhether real-time and lfexible to adjustment of the magnetic.The DSP processor with thepowerful computing capability, which in many real-time location can be used in the column.This project is on the basis of the study of the original single amphibious variablemagnetic feet sucker. For the speciifc application of the feet sucker, as the starting point fromthe lfexibility of the moving mechanism which moved in the permeable wall，The premise ofstable adsorpiton of the feet sucker with variable magnetic and its Real-time lfexibleadjustment of the magnetic force. After research of the existing quadruped Wall crawlingrobot and combined with the principle of the quadruped walking reptiles. Thethree-dimensional model of the quadruped wall crawling robot was build, and the analysis and plan of mobile gait was also given..After the kinds of gait and the adsorpiton of the force areanalyzed, the magnetic force required, when stable adsorpiton of the single feet was gave.afterthe magnetic analysis of the feet sucker its magnetic control device of feet sucker wasredesigned.Analysis of the magnetic control device of feet sucker，by using the method ofsimulation with ADAMS software and MATLAB software, through the application of thismethod provides the design basis for determining the control parameters.That the quadrupedwall crawling robot becomes magnetic real-time lfexible closed-loop regulation is achievedby developing TMS320F2812DSP chip as the core of the force control panels and writingrelated procedures.