Design and Kinematic Analysis of a Wall-climbing Robot for Bridge appearance Inspection

摘要

Abstract In order to solve the maneuverability and safety of large bridge appearance inspection, a new type of hexapod wall-climbing robot is designed. As an important branch of mobile robot field, the organic combination of ground mobile robot technology and adsorption technology greatly expands the application range of robot. This paper introduces the mechanical structure of two self-designed legged wall-climbing robots, puts forward four problems on the quadruped robot and improves them on the hexapod robot. At the same time, in order to control the hexapod wall-climbing robot, the kinematics model of the hexapod wall-climbing robot must be established, and on this basis, the forward and inverse kinematics equations of the robot should be solved. The research results show that the two new robots meet the requirements of reliable adsorption and flexible movement, and have large application scenarios. The forward and inverse kinematics solved by the established kinematics model is proved to be effective by experiments.