System Design And Characteristics Research Of Wall Surface Mobile Manipulator

As a kind of storage equipment, tank is widely used in the petrochemical industry. Traditionally,the task of cleaning and inspecting the tank is completed by manual methods, which exist lots ofproblems such as high labor-intensive, long construction period, poor security, pollution and so on.Therefore, more and more researchers begin to study the wall climbing robot. Typically, wall climbingrobots have characteristics of single function, low efficiency and poor precision, because the workingequipments mounted on the robot are designed for special working conditions and mainly driven by thecarrier. Therefore, to improve the efficiency and precision of the wall climbing robots, a light weighmanipulator was designed in this paper to be utilized to grip and drive the working equipments.Firstly, the characteristics and related technology required by the manipulator were figured outthrough analysing the operating characteristics of wall climbing robots, and then introduced thedomestic and foreign research of these related technology at present briefly. Based on these analysis,the main contents of this paper were introduced in the end of chapter1.Secondly, through analysing this manipulator’s technical requirement and comparing severalweight reduction methods, a general scheme based on single motor driving was proposed. Then,according to the scheme, the transmission chain and the structure of manipulator joints were designed.Thirdly, the kinematic equation, working space and Jacobian matrix of the manipulator werecomputed.Fourthly, the hardware of control system was design according to the manipulator’s requiredfunction, and the software of control system was then developed using VC++.Fifthly, dynamic characteristics of the manipulator when working on the wall were analysed byADAMS simulation, and an optimization method was proposed.Finally, through repetitive positioning experiment and trajectory tracking experiments, thepositioning accuracy was analyzed and the manipulator’s ability to track complex trajectory wasdemonstrated.