Research on mechanism and capability of new type of wall-climbing robot overconming obstacles

The wall-climbing cleaning robot is a cleaning machine and assigned to replace human to work in the dangerous high-rise building environment, so its reliability and stability are particularly important. On the basis of analyzing the disadvantages of traditional wall-climbing cleaning robot, aiming at the obstacles of glass window frame, a four-rotor swinging arm wall-climbing cleaning robot was designed. Based on crawler chassis structure, rotary wing was designed to generate thrust to provide the adsorptive force required for wall walking, and the corresponding robot swinging arm deformation mechanism was designed to increase the obstacle surmounting ability of the robot on the wall. The kinematic mechanism of the robot over the obstacle was analyzed, and the kinematic model of the robot wall-climbing was established. Under the RecurDyn Track LM module, kinematic simulation was carried out for the obstacle crossing process of the robot, and the curve of driving torque and rotor thrust changing with time was obtained. By analyzing the curve of Y-axis center position and acceleration change, the robot can maintain good stability in the process of obstacle surmounting, demonstrating the ability of the new four-rotor swinging arm wall-climbing robot to surmount obstacles and the stability in the process of obstacle surmounting.