Design And Analysis Of 4SRRR Foot-type Wall Climbing Robot

This article takes 4SRRR foot-type wall-climbing robot as the research object,and aims at the climbing problem of the ship's surface.It systematically conducts research from the adsorption device,movement mode,gait planning,kinematic analysis,dynamic analysis,control strategy,etc.,which will provide important theoretical basis and technical support for the engineering application and of the 4SRRR foot-type wall-climbing robot.First,according to the characteristics of the surface of the ship as a magnetically permeable material,several different adsorption methods were compared.It was considered from the aspects of obstacle crossing,movement efficiency,and control difficulty Based on the optimal movement method,consideration of the movement on the wall,planning of the robot's gait,and analysis of the robot's walking Stability margin issues.Secondly,the kinematics analysis of the single leg branch and the whole the 4SRRR foot-climbing robot is performed.The number of degrees of freedom required to meet the task requirements is analyzed.The single leg branch and the overall working space required to meet the task requirements are analyzed.Thirdly,the Lagrangian equilibrium method is used to analyze the dynamic equation of the swing leg without impact,and the dynamics is further analyzed using the BP neural network model.The impedance control algorithm of the swinging leg when it interacts with the working environment is designed.The advantages and disadvantages of using different control strategies for the foot-type wall climbing robot in combination with actual work are discussed.Finally,based on the Robotics Toolbox,a robot simulation tool was used to analyze and verify the correctness of the analytical solution of the kinematics of the robot.Through selecting the key components and designing the electrical system,the prototype of the climbing robot is developed.The impedance control strategy is verified.