The Structure Design And Motion Control Research Of A Climbing Robot For Living Trees

With the rapidly development of robot technology,climbing robot for high-rise buildings' surface cleaning,street lamp bridge repairing,maintenance,and in other fields has been widely used.The study of climbing robot is one of hotspots in the field of robot at home and abroad.Aiming at the problem of the application of climbing robot in trees,this paper gives a design for the living trees climbing robot and discusses the problems related to the climbing control.In this paper,the domestic and international research status of the climbing robot is introduced.On the application of the wall,the rod,the bridge cable,as well as trees and other fields of climbing robot climbing function principle is analyzed,and on the basis of comparison and analysis of the adsorption mode and movement mode of various climbing robots,for this paper to design the stocking climbing robot mechanical structure design and the design of the control system,mainly includes the following sections research content:(1)In this paper,the design of the climbing robot in the movement way is using peristalsis scheme,the adsorption mode adopts the way of mechanical clamping.In the mechanical structure design by using the method of function modularization,the whole mechanical structure is divided into four parts,the rotating body,the main body,the vice body and the connecting body,to split the four parts for assembly.After established the overall design scheme of mechanical structure,analysisingworking principle anddesigning the key mechanical structure.(2)After a description of the climbing action principle of the climbing robot,through analyzing,choose the microprocessor ATmega128 as controller chip for climbing robot control system design,mainly includes the hardware system and software system.In the hardware system,power supply,communication,switching input and output,signal acquisitionand so on the function of each module and circuit design are introduced,the working principle diagram of the robot controller is drawn.In the software system,this paper introduces the task of the host computer and the slave computer in the realization of serial communication function,the flow chart of serial communication is given,design the man-machine interface program and interface program of each module.(3)The climbing experiment of the climbing robot was carried out.experimentswere carried out to verify the climbing ability of the climbing robot and the accuracy of the control system,in the process of experiment the problem such as clamping of the robot was discussed,then,put forward the corresponding solutions.This paper innovation points: The design of the mechanical structure is assembled,assembly is simple and convenient to carry;to use spring sleeve structure and combination of limit switchin the clamping mechanism,get rid of the complex simulation and circuit structure;for the first time to carry equipment for climbing robot detection of ancient buildings or trees.