Design And Analysis Of Tilting-rotor Flying Wall-climbing Robot

The Flying robots and wall-climbing robots are often used as special robots in various high-risk scenes and military battlefields due to their high mobility,safety and reliability.However,these two kinds of robots have their own shortcomings that are difficult to overcome,such as slowly moving speed of wall climbing robots and poor concealment performance of flying robots.Therefore,this paper proposes an air robot based on quad-rotor aircraft,which can realize the functions of walking and climbing walls.It has the ability to fly in free space,crawl on buildings and walk on the ground.According to the working environment and design requirements of the amphibious robot,this subject has completed the design,simulation analysis and experimental research of the tilt-rotor flying wall-climbing robot by integrating the existing research results.The specific research results are as follows:First of all,The functional characteristics and working mechanism of the amphibious robot are comprehensively analyzed,the overall design scheme of the tilt-rotor flying wall-climbing robot is determined,and the overall mechanical system of the robot is designed,mainly including the layout of the flight system,the design of the walking mechanism,the design of the adsorption force generation scheme,the design of the tilting mechanism,the selection of the driving motor,etc.The final scheme is established that the robot uses four rotors to fly,and uses the generated thrust to adsorb on the wall through tilting,and moves through four wheels,and the statics analysis is carried out on the key components.Secondly,Based on the designed robot body,statics analysis is carried out under two scenes of vertical wall and horizontal wall to determine the minimum adsorption force required by the robot to climb the wall,which plays a reference role in the motor selection of the flight system.Based on the robot,the corresponding coordinate system is established,the dynamic model equation of the amphibious robot to climb the wall is established,and the corresponding dynamic simulation of the robot is completed,which provides theoretical basis for the controller design of the robot in the future.Then Aerodynamic simulation experiments are carried out on the propeller model and the whole machine model of the robot.Based on the theoretical basis of fluid mechanics,the thrust changes provided by the propeller at different rotational speeds and different tilting angles are calculated,and the corresponding aerodynamic layout analysis is carried out on the whole machine to obtain the velocity changes and pressure distribution of ambient air during its flight.According to the simulation results,reference is provided for the structural optimization of the flying and climbing robot in the future.Finally,The prototype of amphibious robot is developed and tested.Based on the above theoretical analysis,various parts and materials of the robot are selected and processed,and the control system of the robot is correspondingly built and electronic components are selected.The assembly of the robot is completed and the design function of the flying and climbing robot is verified by experimental tests.The experimental results show that the designed robot has certain rationality and can realize its flying and climbing functions.