Structure Research And Design Of Quadrupled-Foot Wall-Cleaning Robot

Along with the rapid development of modernization,there’re a great amount of tall buildings in cities,which have caused a heated issue that the process of cleaning the wall curtains of these tall buildings.Nowadays,this kind of aloft work is done by manual work which has a huge amount of potential inconvenience such as high index of danger、low cleaning efficiency and high cost.Based on these factors,there’s a urgent need of robots to replace manual work in wall curtain cleaning which pushes the development of wall-cleaning robot.This thesis designs a kind of quadrupled-foot cleaning robot with flexible mobility and high ability of crossing the obstacles,which based on the principle of the structure of tripled-pole and quadrupled-foot.The main contents of this thesis include:First of all,there’s a brief introduction of the development progress and current research state of climbing robots and wall-cleaning robots in home and abroad,and after that there’s an explain about the purpose and meaning of this subject.At the base of the summarized adsorption structures and mobility means,the author provides a kind of wall curtain cleaning robot in terms of alternative suction cup adsorption,which moves in the form of creep.And there’s a detailed introduction about the cleaning part of this robot,which will provide the theoretical basis for next research.About the design of the structure,the author builds the 3-D model using the software of Solid Works based on the working environment of the robot.The robot has 3 degree of freedom,which include two yaw motions,four pitching motions and one cleaning motion,and the robot can achieve the cleaning work in terms of straight,turning and obstacle crossing.The designed robot moves in the form of creep and using the vacuum as the form of adsorption.The cleaning device includes the cleaning brush,atomizer and wall drier,which are placed inside of the suction cup.By designing the connection between the suction cup and the main body of robot,there’s the cleaning robot that the author wants to design.After the mechanic part design,there’s the kinematics analysis about the cleaning robot.There’s three kinds of working conditions including cleaning in straight,cleaning in turning and cleaning in obstacle crossing.Through the kinematic analysis,we can master the angle value of each joint motor when the glass curtain wall cleaning robot is cleaning under various conditions,which provides the basis for the design of the control part of the object.The MATLAB software is used to analyze the forward and inverse kinematics of the cleaning robot,and the working interval analysis of the wall cleaning robot is carried out,and then the practicability of the designed robot is verified.Dynamics analysis is also an important part of robot designing,which we will use the software of ADAMS to complete.Using the ADAMS,we can know the maximum torque value in every joint of every working condition.Besides that,based on the range of variation and the degree of changing,we can analysis the stability in every working condition.After the theoretical analysis of kinematics and dynamics,we need to put up the robot object,and the experiment of turning and adsorption was carried out.