The Structure Design And Reliability Studies Of The Walking Pneumatic Wall-climbing Robot

Wall-climbing robot has the feature of structural stability, reliable adsorption and flexible control, besides, having high-reliability is the basic requirements of wall-climbing robot achieving high-altitude operation. This dissertation combines with the existing technology and theoretical research results of wall-climbing robot,developing a new type of pneumatic walking robot and it has a research of robot's design, physical construction,control system, reliability and other aspects.(1)The structure and pneumatic circuit design of wall-climbing robot :Through the summary and analysis of wall-climbing robot's current research at home and abroad, this dissertation constructs a new three-dimensional model of walking pneumatic wall-climbing robot. It designs a bran-new locomotion mechanism consisting of pairs of long and short legs, and analyses the anti-slip and anti-overturning condition about the robot under the state of reliable adsorption.Designs configuration of modular vacuum multiple sucker, and improves the adaptability and security of adsorption.(2)Bluetooth wireless control system design of climbing robot:Combining with specific adsorption gait of walking wall-climbing robots and functional requirements,this dissertation constructs a set of bluetooth wireless control system.Host computer is Android mobile client, STC89C52 microcontroller is the main chip, called slave computer. Serial communication of them get through HC-06 Bluetooth module,via the corresponding I/O port output of the microcontroller,and control the relay switch circuit to control the wall-climbing robot.(3)The reliability research of wall-climbing robot's key components:Because of the walking wall-climbing robot on characteristics of high reliability requirements,this dissertation use the analysis of fuzzy fault tree, establish the fault tree of walking wall-climbing robot's key components, and analyse the qualitative and quantitative of the reliability of the various parts. Finally, we obtain the fuzzy importance of key components, thus providing some theoretical basis for reliable operation of the robot.Theoretical analysis and prototype running experiment of wall-climbing robot show that: Based on the way to develop the walking crawling climbing robot, the successful completion of straight, turn, obstacle and other sports performance test, and it has a smooth motion, better obstacle performance, control simple and flexiblefeatures. The experimental results verify the validity of walking pneumatic wall-climbing robot's design and reliability studies.