Wall climbing robots, also known as wall moving robots, are also known abroad as extreme work robots because vertical wall work is beyond human limits. Despite its superior performance, there has been little research on the subject. This paper introduces a vacuum adsorption structure for a one-footed multi-suction wall climbing robot and establishes a onefooted multi-suction model. Using a four-legged wall crawler as a carrier, the basic conditions to be met by this structure are analysed for both the three-legged and four-legged suction states of the wall crawler. The feasibility of attaching the robot to the structure to move on a vertical wall is verified. The deformation of the body is simulated by ansys for the two adsorption states with load forces ranging from 500N to 700N to verify the feasibility of the structure and to derive a range of feasibility.
KEYWORDS: Computing systems, Kinematics, Control systems design, Control systems, Monte Carlo methods, Integration, Solids, Liquids, Sensing systems, Motion analysis
To address the low sorting efficiency of existing food vending machines, the single way of picking up food and the low success rate of picking up. By analysing the physical properties of typical foodstuffs in our canteens, the corresponding picking methods are proposed and statistically. Based on this, a structure with integrated end-effector is proposed to complete the design of the relevant mechanical structure of the food vending machine; the kinematic equations are established using the D-H method; the working space of the food vending machine is analysed in Matlab using the Monte Carlo method; the motion planning of the food vending machine is carried out and the kinematic simulation is performed by ADAMS software. The results show that the design dimensions and the kinematic planning are reasonable and meet the requirements for the working space and sorting operation of the food vending machine.
This paper introduces the development of vacuum suction wall climbing robots, discusses the characteristics of common suction cups and corrugated suction cups, explains the advantages and disadvantages of corrugated suction cups, establishes a suction model to verify the advantages of corrugated suction cups in terms of suction performance, achieves directional control of suction cup deformation by using different materials on the same suction cup with reference to the characteristics of pneumatic flexible structures, improves some aspects of the deficiencies of common corrugated suction cups, thus optimising the This improves some aspects of the conventional corrugated suction cups, thus optimising the stability of the robot equipped with these suction cups and strengthening the suction cup structure. The 3D model of the suction cup structure before and after the improvement is imported into the ansys finite element simulation platform, and the finite element simulation model is established through the static analysis environment for analysis. The comparison of the deformation data in all directions of the suction cup before and after the improvement, as well as the total deformation, total stress and total strain of the suction cup are obtained, which verifies the feasibility of the optimisation method.
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