Design and Analysis of Split-flexible Wall-climbing Robot with Adaptive Variable Curvature Façade

Abstract

： In order to solve the adaptive problem of variable curvature of traditional wall climbing robots on complex and large metal facades. The effective contact between the track and the surface as the starting point, the law of attitude change of caterpillar movement configuration in adaptive surface motion is analyzed. A self-adaptation wall-climbing robot is proposed, which based on split-flexible track movement and clearance permanent magnet adsorption. The multi-state motion model is built, and the self-adaptation motion characteristics of the robot are analyzed, by using itself posture chang in the process of moving on the variable curvature facade and crossing the barrier of the weld. Clearance permanent magnet adsorption model is constructed, and the influence of wall thickness and magnetic gap on the adsorption capacity is analyzed by means of parametric simulation. Through the test of prototype platform, it is shown that the robot can move flexibly and reliably under large loads on the facade with variable curvature with reasonable motion posture, and has good ability of adapting variable curvature and overcoming obstacles.