Design And Implementation Of The Bionic Wall-climbing Robot

Compared with traditional mobile robots,wall-climbing robot is a kind of robot that can move in the environment of large inclination or even vertical two-dimensional or complex three-dimensional systems,such as walls,ceilings,cliffs.By combining mobility with climbing ability,wall-climbing robot can work in some environments where human beings are difficult to move or ordinary robots cannot move.Therefore,wall climbing robot has become a hot topic in the research field of special robot in recent years.According to the different adsorption methods used by wall climbing robots,they can be divided into magnetic adsorption,vacuum pressure adsorption,aerodynamic adsorption,electrical adhesion,mechanical clamping,bionic technology and so on.However,magnetic adsorption must be applied on the magnetic surface,and the effect of vacuum pressure adsorption will be weakened when facing the rough and cracked surface.Aerodynamic adsorption has the disadvantages of high energy consumption and high noise.Electrical adhesion also requires a higher energy supply,at the same time,its load capacity is weak.In view of the complex outdoor environment and rough wall conditions,the traditional wall-climbing robot is difficult to complete the stable climbing operation.Inspired by this,a quadruped bionic wall climbing robot based on bionic claw is designed in this paper.By installing bionic claws at the foot of the robot,it can grasp and move on the wall.The main research contents of this paper are as follows:1)Motion mechanism analysis and structure design of wall-climbing robotTaking insects,cats and other animals with rough wall attachment ability as bionic objects.Study the morphological characteristics of their foot tip and the principle of wall grasping.A simplified wall contact model is established to analyze the mechanism and adhesion requirements of the wall climbing robot when moving on the wall.According to the conditions that need to be met in the process of wall climbing,the flexible claw structure and the robot structure suitable for wall climbing are designed.2)Design of wall climbing robot control systemAccording to the control requirements of wall climbing robot,an anti-interference control system with power isolation and signal isolation is designed,which is mainly composed of robot main control chip,communication module,steering gear module,power management module and remote control module;Then the main control program framework of robot control is designed.3)Research on motion control method of wall-climbing robotTaking the gait of quadruped in nature as a reference,combined with the grasping mode of robot claw and foot and wall,the kinematics model of robot is established.The diagonal gait is used as the motion gait of the robot,and the foot trajectory of the robot is designed.Then research the way to make the robot move stably on the wall.4)Simulation and prototype experiment of wall-climbing robotCarry out experimental tests on the robot,including establishing the robot simulation model and verifying and improving the control algorithm in the simulation environment.Then test the bionic claw’s grasping ability.And the wall climbing experiment is carried out by using the physical prototype of bionic wall-climbing robot.