Wall Stability Analysis of Marine Wall Climbing Robot

摘要

This paper analyzes the wall stability of a wall climbing robot working on the outer surface of the ship, and explores the relationship between the stability and the adsorption force as well as the motor driving force. Firstly, this paper introduces the mechanical structure and function of the wall climbing robot. Secondly, the mechanical model is established to analyze the force of robot turning and obstacle crossing, and the relationship between the external force and the adsorption force is calculated. Then, based on the force condition of the wall climbing robot under the limit condition, the adsorption safety and obstacle crossing stability of the robot are analyzed. Finally, a series of experiments are carried out to verify that the wall climbing robot with relevant configuration can stably operate on the wall of water storage tank and the outer surface of medium-sized freighter.