Mechanical System Design And Mechanical Property Analysis On Typical Working Conditions Of Crossing-Corner Magnetic Adhesion Wall-Climbing Robot

As a special kind of wall climbing robot, the Crossing-Corner Wall-Climbing Robot can run continuously in the presence of steel surface such as the ladder, intersecting plane and the camber surface. A magnetic adhesion wheeled wall-climbing robot is designed, which contains two symmetrical bodys which are connected by the self adaptive structure. Each body contains a driving magnetic wheel, a driven magnetic wheel and two auxiliary magnetic wheels.According to the corner-crossing principle of the wall-climbing robot, the permanent magnetic adhesion, wheeled movement mechanism, motor driving mode and main parameters of the robot system are determined. The mechanical system structure of the robot is designed in detail. In order to meet the different requirements of the adhesion force; a new type structure of permanent magnet wheel is put forward by changing the array of the magnetic blocks. And a self adjustable structure is adopted to ensure that four wheels contact the wall surface at any pose state.Based on Halbach permanent magnet array the structure of permanent magnet wheel is optimally designed to meet the required magnetic adhesion force and to make the robot lighter. The periodic magnetic adhesion force while wheels rotate is simulated, and the change rule of the adhesion force is obtained when the gap between wheels and the wall changes.The minimum magnetic adhesion force and drive torque are obtained by the mechanical analysis of the key posture and wall corner-crossing process when the robot works on the vertical or ceiling plane. Based on the skid-steered theory of wheeled mobile robots, a method of calculating steering resistance torque is put forward. These results can be used to establish the control algorithm of the robot.