Experimental Studies of the Dynamics of a Mobile Robot with a Vertical Movement Mechanism on Magnetic Caterpillar Movers

摘要

In this paper, we discuss the dynamics of a newly developed mobile robot with a vertical movement mechanism on magnetic caterpillar movers. Based on analysis of the current solutions in the field of vertical movement robots, an original kinematic scheme of the movement of the vertical movement mechanism that allows implementing a number of critical advantages compared to current schemes was proposed. Field experiments have proved the effectiveness of the theoretical solutions incorporated into the design. The vertical movement robot developed can be used as a service equipment platform for servicing and diagnosing complex metal structures, including under extreme conditions, such as ship hulls and bridge and dock structures.