Design And Experiment Of Biped Wall-climbing Robot System Based On Electrostatic Adsorption

Wall-climbing robot is a kind of special operation one which combines wall adsorption and mobile ability.It has a wide range of applications in many industries and fields such as nuclear industry,construction industry,fire department,oil factory,shipbuilding,anti-terrorism and so on.With the development of science and technology,many researchers at home and abroad have developed or are developing some wall-climbing robots.However,the existing wall-climbing robot systems have not been widely used because of its own defects and shortcomings,for example,different adsorption methods are suitable for different operating environment,different motion modes limited by some operating environment,and so on.Therefore,it has important scientific significance and practical application value to study and integrate a new wall-climbing robot system with a new adsorption way.Based on the research progress and research achievements of wall-climbing robots,the features and shortcomings of the existing wall-climbing robot systems,this paper focused on the use of electrostatic adsorption as a robot adsorption way and designed a simple structure to control the wall climbing robot system which is light weight,low noisy,low power consumed,simple structured and suitable for most wall features.The principle of electrostatic adsorption of a conductor wall and a dielectric wall has been studied in this paper,too.The high voltage conducting situation of the dielectric wall was simplified to the model of the capacitor circuit and the electrostatic force calculation formula of the membrane has been reasoned by the electrostatic field energy and the virtual displacement theorem.Meanwhile,by Ansoft Maxwell simulation software to simulate the working conditions of the three-dimensional concentric structure adsorption membrane,and the simulation electrostatic adsorption force is obtained.Furthermore,the simulation electrostatic adsorption force at different excitation voltage of two kinds of materials was recorded and the two-dimensional double-electrostatic adsorption membrane was simulated.The static mechanism of the simplified foot model of wall-climbing robot was also studied in this paper.The static analysis of the sliding failure and overturning failure of the robot on the wall is carried out.According to the static analysis and the electrostatic force of Maxwell simulation,the mechanical structure of the robot wall-climbing robot based on the concentric structure adsorption membrane was designed.The design ofeach module of the robot and the design and development of the software,including the system analysis and design of the high voltage boost module,are completed.The paper also studied the control system of the wall-climbing robot,mainly including the design and writing of the PC software,the Arduino UNO control board as the core control system,the data communication between the PC terminals and the lower machine,command communication,execution,the control of the robot to complete the movement,acquisition information and other tasks,and return the relevant data to the PC side for the next step of the operator,and so on.Finally,the adsorption and driving experiments of the robot system model were carried out,so that the correctness and applicability of electrostatic adsorption wall-climbing robot system were verified.