Force analysis and stability simulation on tracked wallclimbing robot

 

 

XIONG Diao, LIU Yuliang

 

(School of Naval Architecture and Ocean Engineering, Zhejiang Ocean University, Zhoushan 316022, China)

 

 

Abstract: Aiming at the motion stability for the tracked wallclimbing robot, the characteristics of the robot and the force between the robot and wall were researched. In order to facilitate the force analysis, a new definition of load distribution coefficient of the track was proposed, the static model of linear motion and turning motion were established. The relationship between the magnetic adsorption force, wall inclination angle and the load distribution coefficient of the robot and the force between the robot and wall were simulated with Matlab software in the end. The results indicate that the requirements of adsorption force for single magnet mainly depends on the load distribution coefficient of the track and wall inclination angle, the magnet adsorption force has a great influence on the turning motion flexibility, the requirement of the motor torque mainly depend on magnetic adsorption force and wall inclination angle. The results of simulation are in good agreement with the experimental observation of related literature and the model of turning motion was confirmed, the main parameters that affect motion stability were determined, which provides the reference basis for the optimization design of the wall climbing robot.

 

Key words: wallclimbing robot; force analysis; load distribution coefficient; design optimization