Wall-Stability Analysis of a Climbing Robot

Abstract

Abstract.A climbing robot's moving mechanism based on permanent magnet adsorption is proposed, which has a four-wheel structure including two driving permanent magnet wheels and two universal wheels. The problems of the robot's adsorption reliability is put a special effort to study. The force situations of robot at the horizontal position and vertical position are analyzed respectively, and the robot's mechanical model and the conditions of stability are built. The simulation experiments are carried out SolidWorks and ADAMS, and the results of simulations show its correctness.