Structure Optimization And Control System Research Of Wall Climbing Robot

Aiming at the need for unmanned operations such as tanks and bridges overhaul and maintenance of large equipment,the research team developed an electromagnetic adsorption wall-climbing robot.With the goal of lightweight,this subject conducts static analysis and structure optimization design,and conducts research on the control system.Aiming at the movement analysis and gait planning of the robot,material selection and lightweight design of robot parts are carried out.The maximum force posture of the robot under different gaits in the movement process was analyzed,and the statics analysis was carried out to analyze the weak links of the stiffness of key parts.In view of the insufficient stiffness of the weak link design the optimization scheme,after analysis and comparison,the optimization scheme is determined to increase the support structure to improve the stiffness of the weak link of the robot and meet the lightweight design.Design a control system scheme aiming at lightweight to achieve precise control of the robot’s crawling gait.The robot hardware system builds a control system with the STM32F103 VE microprocessor as the core and a driver with the chip L6208 as the core to realize the combination of the microprocessor and the driver.The robot software system designs the robot’s crawling state judgment,crawling motion and foot logic and other subroutines,realizes the modular and hierarchical design of the control system,and completes the programming,detection and debugging of the control system.Ensure the continuity and stability of the robot’s movement during the crawling process of the wallclimbing robot.Make prototypes of robots,and design robot crawling experiment schemes,conduct experimental tests.The robot performs leg-raising,stepping,and leg-falling actions on the vertical wall to test the body movement continuous crawling smoothness.The legs while supporting load was applied test the robot load capacity.Verify the continuity of the robot motion and the stability of the body during the crawling motion.Figure 53;Table 9;Reference 52...