Design And Research Of Permanent Magnet Wall Climbing Robot Based On Four-Wheel Drive

A permanent magnet wall-climbing robot based on four-wheel drive with automatic detection is designed to solve the problem of the large-scale wind motor.The wall-climbing robot has the advantages of simple structure,high flexibility and low cost,which can be adsorbed and walked on the wall surface smoothly.It solves the problems of steering difficulty,wall adsorption and flexibility,and the detailed work is as follows:Firstly,the function requirement and performance index of the robot are analyzed,and the scheme of permanent magnet adsorption,wheeled walking and motor driving is chosen in combination with the actual situation.Secondly,using Ansoft software to optimize the magnetic field distribution of the adsorption device,a new magnetic adsorption device with strong adsorption and wall adaptability is designed to make the robot operate safely on the vertical fan tower and simulate the whole adsorption device.Then,in order to realize the omni-direction movement,this dissertation carries on the feasibility analysis to the Mecanum full-direction wheel and the force analysis of the active wheel,calculates and explains the condition in which the motion does not produce the sliding friction force,establishes the whole coordinate system of the climbing robot,and analyzes the relation between the speed and the overall speed of four-wheel configuration mode and combination form,through its inverse kinematics speed Jacobian matrix calculation,to obtain the optimal configuration model for four-wheel allocation.Moreover,it implements the selection of servo control system and the design of motion control system,and builds the speed closed loop control system of DC servo motor.The PID control algorithm is used to speed the motor for fast and accurate arrival at the target point in the dynamic environment,and finally the prototype is tested.Finally,the dynamic characteristics of the wall-climbing robot are simulated and tested.The possibility of subversion under various postures of climbing robot is analyzed.MATLAB is used to simulate the acceleration of the robot on the vertical wall and the horizontal top,and the whole process is verified under the PID control whether the acceleration can be fast to zero,the speed can keep steady state,and the robot's position is accurate and the vibration is small.which meets the optimal designobjectives.