Mechanical Structure and Control System Design of Wall-Climbing and Obstacle-Crossing Robot with Magnetic Adsorption

摘要

In order to solve the problems of low operational efficiency, high operational danger and uneven quality of manual work in ship wall maintenance operations, a wall-climbing and obstacle-crossing robot with magnetic adsorption was designed. Firstly, the mechanical structure of the robot was designed according to the design index summarized from the actual working conditions. Then, the real time control system software of the robot is designed to realize the movement of the robot. Finally, comprehensive experiments were conducted on each of the robot's performances to determine if the robot met its design specifications. The purpose of this paper is making the robot to be a remote control tool to help workers finishing vertical metal wall maintenance operations.