Study On Magnetic Adsorption Wall-climb-ing Robot With Transition Ability

Wall-climbing robot is widely used for inspection,printing,cleaning,maintenance and even counter-terrorism surveillance purpose.It is able to liberate humanity from the dangerous high-altitude operating environment and also can greatly improve the productivity of society,which is of great significance in researching.The transition ability of the wall-climbing robot directly restricts the further development and application of robots,because in practice,the operating environment of the wall-climbing robots is the surface of curved,rectangular wall even stepped wall,rather than the single wall,which requires the wall-climbing robot to not only ensure has good function on a single surface of the wall,but also the good transition ability from one surface to the other.Therefore,the main issue addressed by this article is transition ability of climbing wall robot,in particular the external corner transition ability,thereby enhancing the ability of adaptability on the three-dimensional wall and increasing its practicability.Tracked magnetic adsorption wall-climbing robot designed in this paper combines the advantages of crawler movement and permanent magnet adsorption,and adopts flexible connection double tracks,which makes robot still has a good external transition capability in ensuring that it adsorbs on the surface of wall safely.The main contents are just as follows:Firstly,it introduces research status about wall transitivity of the wall-climbing robot at home and abroad,and analyzes the advantages and disadvantages of various movements and adsorption.On this basis,it puts forward programs which research on the flexible connection double tracks wall-climbing robot with magnetic adsorption and use SolidWorks to design 3D modeling for the robot.Secondly,it analyzes the wall-climbing robot's safety adsorption conditions when it is move on the vertical wall and in external transition in detail.Besides,it also analyzes the driving characteristics of the robot.A further learning of motion characteristics of the robot provides a theoretical basis for modeling and simulation of virtual prototyping through the analysis of wall-climbing robot dynamics model.Then,it establishes the model of virtual prototype of a wall-climbing robot in ADAMS and it gives a detailed process of establishing a virtual prototype,including how to use ADAMS to establish a module of timing belt,how to manage the constrained collision relationship between the timing belt and pulley,between the timing belt and wall surface.The simulation results verify that the robot can be safely adsorbed on the vertical wall and move on it and the external corner transition is feasible,verifying the design of flexible connection double tracks wall-climbing robot is feasible.Finally,it tests on safely adsorption characteristics,the wall transition ability,a load capacity,and cornering ability by using wall-climbing robot control system.The experimental results demonstrate that it is achievable that the robot can be safely adsorpted on the wall and move on it,even can move on different surface of external wall,which reaches the research objectives of this study.