The Analysis Of Glass Curtain Wall Cleaning Robot Structure Design And Simulation

The importance of the climbing robot has been excavated, the robot plays an important role in more and more areas, and the structure design is the key technology. The structure design is one of the key technologies. Taking flexible and stable movement, and can overcome obstacles as a goal of wall climbing robot, a kind of structure with reliable movement and simple control is proposed, and the kinematic analysis, gait planning and simulation are carried out. The main contents are as follows:The compact structure and the single leg in series of movement structure are designed of glass curtain wall cleaning robot. It confirms the adsorption structure and the cleaning structure. It confirms the thigh, the crus, the overall height and length, length of the center frame and other important parameters of the robot.The spatial model of the mechanical structure was established in Solidworks, the structure of the robot is analyzed, single mechanical legs kinematics forward and inverse solutions are researched by D-H method, planning the diagonal gait, tripod gait and cross climb gait of the space model based on the formula of the derivation of kinematics.For different driving to robot is add as to different gait in ADAMS simulation software. It verifies the correctness of the theory of the robot's kinematics in the diagonal gait. Kinematics result data and dynamic result data were obtained under three kinds of gait planning of the glass curtain wall cleaning robot.The stability of the robot under three kinds of simulated gait planning is analyzed, and the results of simulation data are analyzed, and the optimal results are obtained. The rationality of the robot's structure and correctness of kinematic analysis theory are verified by simulation data of the robot, and the important parameters of the safe and reliable movement of the robot are obtained by the simulation of the dynamics. Taking flexible and stable movement, and can overcome obstacles as a goal, analysis of the robot bionic size structure, draw the simulation data of the bionic structure model. Through the same diagonal gait, the comparison of the bionic structure model and the original model, a reasonable glass curtain wall cleaning robot mechanical structure, to obtain a stable, reliable and safe gait planning. Has the theory instruction significance to the structure design and the simulation analysis.