Research On Adhesion Stability And Crossing-Corner Driving Characteristics Of Magnetic Wheel Wall-Climbing Robot

There are corners, ladders, curved surfaces and other irregular surfaces in the wall-climbing robot working environment. In order to work continuously, the wall-climbing robot should have the ability to cross corners. This paper presents a magnetic wheel wall-climbing robot with crossing-corner ability, which means the robot can go across the corner that between horizontal plane and vertical plane, or between vertical plane or ceiling plane. This ability can be realized by the ordered adhesion and separation between magnetic wheels linked by chain and steel wall.Firstly, the overall scheme and structure composition of the wall-climbing robot are presented, and the mechanical analysis model is established based on its mechanical structure features, the magnetic force analysis changing function is matched by using of the magnetic wheel simulation data. Then the crossing-corner process is divided into several phases.Secondly, the relationship between the robot’s structural parameter and magnetic force is built by analyzing magnetic adhesion stability, of the robot in all the dangerous occasions, and the adhesion force requirements and the minimum magnetic force are obtained. These results can be used to design the the magnetic wheel design and insure reliable operation of the robot.Finally, based on force and moving analysis during all the phases of crossing-corner process, the relationship among the driving torque and the robot’s structural parameter, magnetic force, and the robot’s location is obtained. The changing law of the driving torque during crossing corner is worked out by numerical calculation under a certain condition. Above results provide a theoretical basis for motor control algorithm and the robot’s operation control.