Design and Analysis of Curvature Adaptive Wall Climbing Robot

Aiming at the problem that most of the existing wall-climbing robots will have the wheel hanging due to the curvature change when the column tank is crawling and turning, a wall-climbing robot that can adapt to the change of the wall curvature is designed. And from a mathematical point of view, a model was established to explain the process of its robot adapting to curvature changes during the turning process of the inner and outer walls of the column tank, and the theoretical angle change curve of the adapting process was obtained. Finally, a column tank experiment platform and a wall-climbing robot prototype were built, and the actual angle change curve of the robot during the movement of the experimental platform was obtained. The theoretical change curve obtained from the mathematical angle was compared with the actual angle change curve obtained from the experiment, and the trend and The values are basically the same, verifying the feasibility of the curvature adaptive wall-climbing robot designed in this paper.