Reconfigurable Flexible Connected Cross-Wall Climbing Robot

With the advantages of simple design,convenient construction,low cost and stable structure,truss is widely used in the construction of large buildings.However,the bearing structure of the truss is vulnerable to be damaged under the harsh working environment and sudden external factors,which will reduce the carrying capacity of the truss and become security risks.If the potential safety hazards are not found in time,it may lead to major safety accidents.At present,manual inspection is the main detection method for truss structure,low efficiency and high false detection rate makes it difficult to find potential safety hazards in time.With the characteristics of self-organization,redundant configuration and easy expansion,the wireless sensor network has the potential to realize the monitoring of truss structures.However,the deployment of network nodes in such a large-span and complex structure is risky and time-consuming.In this paper,a method is proposed to detect the health condition of truss by using reconfigurable robots to deploy wireless sensor networks on the truss.Compared with the methods of manual inspection and manual deployment of nodes,robots are efficient and flexible,which can retrieve and redeploy the failure nodes.Therefore,it is of great significance to develop robots with capability of node deployment.Aiming at the above problems,this paper has carried out the research on the reconfigurable flexible connected cross-wall climbing robots.The specific research contents are as follows:1)A reconfigurable flexible connected cross-wall climbing robot was designed.Firstly,according to the truss environment and the requirements of node deployment work,the functions which are needed to complete the monitoring of the truss were analyzed and elaborated,and the adsorption,reconfiguration,perception and movement modes of the robot module were determined.Secondly,the movement and mechanical model of the single-segment module across the wall were analyzed.On this basis,the magnetic wheel and reconfiguration structure were designed.Finally,the circuit and control part of the robot module were designed,and a prototype of the robot module was made.2)The reconfiguration motion of the robot was analyzed.Firstly,the module sorting method inside the robot was proposed,which realized the online sorting of multiple modules and provided guarantee for the robot collaborative control.Secondly,the reconfiguration motion was divided into three stages: long-range,medium-range and short-range.Each stage corresponded to different sensing methods and motion control,focusing on the robot's perception and control in the medium-range stage.Robot perception used a combination of vision and AprilTag to achieve the measurement of relative pose between robots;Then,the kinematics model of the robot was established.The docking motion in the reconfiguration motion was studied by using the point stabilizing motion method of the wheeled robot.The motion control rate of the multi-module flexible connected robot was given.Finally,the control algorithm was simulated by using Matlab and verified its feasibility,the docking motion control problem under arbitrary posture and distance was solved.3)The plane motion and the cross-wall motion of the robot were analyzed.Firstly,the straight motion process of the robot was analyzed,It realized autonomous judgment and replacement of the robot's perception mode in different environments.The robot movement adopted the following control method-the first module led the way through perception,and the other modules followed the previous module.Secondly,the turning motion was analyzed,and the method of turning path recognition was focused on.Furthermore,a uniform turning motion mode with minimum interaction force between modules was proposed and verified.Matlab was used to simulate the interaction between robot modules.The minimum radius required for the robot's turning movement was obtained.Finally,the research of the cross wall motion was carried out,and the sports strategies and the perception method were put forward.Adams was used to simulate the force of the spring on the robot module under the three-dimensional deformation,and a mechanical model of cross-wall motion was established.4)The motion performance of the robot is analyzed and verified by experiments.Using the outdoor truss structure,the experiment verified the reconfiguration motion,straight motion,and turning movement of the robot.The relevant motions were evaluated using the visual sensors,angle meters,etc.mounted on the robot by collecting motion data.The experimental platform of the complex space truss structure was built to verify and evaluate the comprehensive movement of the robot across the wall,which met the design requirements of the robot.The thesis includes 82 figures,9 tables,and 88 references.