Research on Position and orientation of Wheel-wall Contact for Four-Wheel Wall-Climbing Robot Working on Cylindrical Tank

To study the adsorption performance of the split-type four-wheel wall-climbing robot working on the wall of the cylindrical tank, it is necessary to investigate the orientation of the robot and the position of the contact point between the wheel and the wall. This paper analyzes the contact situation between the wall and the wheels of a split-type four-wheel wall-climbing robot. The orientation of the left and right sides of the car body is then obtained. The orientation is described by a coordinate transformation matrix. Using the spatial geometric relationship and MATLAB, the orientation angle of the car body and the position of the four-wheel contact points relative to the angle of the left body attitude are obtained. The results provide a theoretical basis for designing the structure and size of the magnetic wheel.