Design And Analysis Of A Deformable Flying Wall-climbing Robot Based On Rotor Propulsion

In nowadays civil aviation field,certain tasks can’t be completed by human force due to the conditional limitations,such as examining natural disasters,inspecting electric transmission lines and so on.Besides,in other more important military fields,it is of great significance for victory to acquire accurate and solid intelligence.However,the intelligence in modern warfare isn’t usually obtained by traditional informants but is assisted by special robots.Currently,the main types of special robots assisting with missions mainly are flying robots and wall-climbing robots.Although the flying robots are fast in speed and wide in application range,yet they have a low load capacity and short endurance;wall-climbing robots have long endurance,yet they are relatively slow in speed and bad at obstacle crossing.Therefore,it is of great practical significance to develop a new style robot integrated with flying,climbing and pinning functions.Based on current research findings of flying wall-climbing robots,this thesis analyzed the function requirements and technical indicators of the robot in this project.Then,this thesis designed the overall structure,analyzed mechanical properties and aerodynamic performance,and the specific research contents of this paper are as follows:First,the overall structure was designed.The author designed the robot’s overall structure including rotor-wing flying system design,rotor tilting system design,wallclimbing system design,wall-pinning system design and the robot body design.After that,the finite element measurement was adopted to validate key component structure design and the reasonability of material selection.The different movement mode transmission moves are also planned.Then,the mechanical properties were analyzed.The author mainly analyzed statics of the robot in vertical and level walls,designed the mathematical model of the wallclimbing mode,flying mode and the two modes’ transmission,and analyzed dynamics simulation.The results provided reference to the robot’s control system design.Following that,the author adopted the one-way fluid-structure interaction to analyze air turbulence in pinning state,which gave reference in pinning equipment size selection.Lastly,the robot’s aerodynamic performance was analyzed.By analyzing coaxial twin rotor’s aerodynamic performance in non-tilting and tilting state,the thesis verified the reasonability of the rotary motor and propeller selection and calculated the best rotor tilting angle range.Moreover,by analyzing the whole robot’s aerodynamic performance in non-tilting and tilting state,the thesis verified the reasonability of the robot’s overall structure design and aerodynamic layout.