Wall climbing robots: Mechanics, control and adaptation to environment

摘要

Wall Climbing Robots (WCR) are estimated as mobile machines having possibilities to move along horizontal, vertical surfaces and to pass from one surface to another one situated under different angles to horizon. The robots are intended for various technological operations fulfillment under extreme conditions or over complex surfaces such as walls of buildings, hulls of ships, areas of vessels or tanks. Presentation includes analysis of structure and performance of robot mechanics, control and adaptation features to environment. Mechanical composition of such robots may be variable - two platforms, multilinks sliding seal. Comparison of the methods for coupling with surfaces irregularities is under consideration. It is noted that mobile robots can be equipped with one or several technological manipulators depending on the problems to be solved. Complex control problems are solving by means of multilevel control system on strategy, tactical and executive levels with embedded microprocessors and microsensors devices. To increase effectiveness, reliability and collision avoidance with the obstacles, the adaptation to changing environment was applied by means of sensory fusion control and feedback loops. Modular system design is reserved for predicted tasks and it includes such modules as mechanical transportation, information measuring, adaptive control, and technological manipulation.