Research On Elesctrostatic Adosrption Wall Climbing Robot Driven By PLZT Photovoltage

Wall-climbing robot is a kind of high-tech robot product that can stably adsorb on the wall and move on the wall.It is widely used in search and rescue,reconnaissance and other fields.Because the existing wall-climbing robot adopting the traditional adsorption method still has certain defects in practical application,in order to reduce the quality of the wall-climbing robot and realize the remote cable removal control of the robot,this paper conducts research on the electrostatic adsorption type wall-climbing robot which has low energy consumption,small mass,wide wall adaptation range and is driven by PLZT photovoltaic.The adsorption unit of a high-voltage electrostatic drive robot generated by the abnormal photovoltaic effect of ferroelectric ceramic material lanthanum modified lead zirconate titanate(PLZT)is proposed.Based on the research of PLZT photovoltaic output characteristics and the analysis of electrostatic adsorption principle,a mathematical model of electrostatic adsorption force under PLZT drive is established and various influencing factors of the adsorption force are experimentally studied.The principle prototype of a double-track and bipedal wall climbing robot is designed and the feasibility of the electrostatic adsorption type wall climbing robot based on PLZT photovoltaic drive is verified through wall climbing experiments.In this paper,the output characteristics of PLZT photovoltage are studied and the mathematical model of electrostatic adsorption force driven by PLZT is established.Based on the equivalent electrical model of a single PLZT,the mathematical model of photovoltage output of a single PLZT in the illumination phase and the mathematical model of photovoltage attenuation in the light source off phase,the mathematical models of photovoltage output characteristics of a plurality of PLZT in series and parallel are respectively established,and the established mathematical models are verified by experiments.The principle of electrostatic adsorption is analyzed,and the mathematical model of electrostatic adsorption force driven by PLZT photovoltage is established.Secondly,the experimental analysis of the influence factors of electrostatic adsorption force driven by photovoltage is carried out.For the adsorption electrode made of polyimide insulating film and chlorinated polypropylene insulating film,the influence law of insulating material,wall material and conductor area on electrostatic adsorption force was studied.For the adsorption electrode made of silica gel film,the influence of connection mode,conductor area,conductor layer material and single/multiple PLZT drive on electrostatic adsorption force was studied.Then,this paper designs a principle prototype of electrostatic adsorption type double-crawler wall climbing robot driven by PLZT photovoltage.Statics and kinematics analysis are carried out on the double crawler wall climbing robot to design the mechanism and control system of the principle prototype..The feasibility of the prototype climbing on metal and dielectric walls is verified by wall climbing experiments.Finally,in order to realize more flexible wall-climbing motion of the robot,based on the theoretical analysis of PLZT photovoltaic output characteristics and the response speed tests of different types of electrostatic adsorption electrode adsorption-lifting,lifting-reabsorption processes,the design of the principle prototype mechanism and control system of bipedal electrostatic adsorption wall-climbing robots is carried out respectively.The feasibility of the control strategy adopted by the electrostatic adsorption mechanism and control system based on PLZT photovoltaic drive is verified through the wall climbing experiments of the principle prototype.