Study On Climbing Robot Based On The Parallel Control

The development and application of robots have expanded the production capacity of the human beings, as well as emancipated personnel works in hazardous environments, greatly promoted the scientific and technological revolution and social progress of the human. It is the combination of computer science, control theory, menchanics and electronics technology, widely regarded as a typical mechatronic products. A multi-foot climbing robot is also a robot operate in extreme working condition. Climbing robot is mainly used for the vertical wall climbing, can be equipped with multiple types of equipment, such as wall cleaning, inspection, pipe laying, paint and other features. The purpose of this study is to design a type of high reliability, adaptability, simple control and flexible obstacle avoidance robot.In this article, through Autodesk Inventor platform to build a new climbing robot 3D model, designed a frame type and multiple foot type of composite structure. Analyzed the security problem of mobile robot, designed the combined vacuum sucker adsorption method, and on each leg of the robot are carried a pneumatic muscle, make it can realize each leg independence movement. The translation of climbing robot is achieved by synchronous belt driven by motors.In this paper, the position driver control was designed for high-speed switch valves pneumatic servo system by PWM parallel control, based on the robot’s motion in stance in the process of transformation, established multi-sensor environmental detection system and used the control strategy and control system based on TMS320LF2407 A.Finally considering the structure lightweight design requirements, this paper did finite element intensity analysis and optimization for structural component based on the ANSYS software, and drew reliable conclusions according to the generated deformation and stress diagrams.