Abstract
Wall-climbing robots are a promising enabling technology for a wide range of high-altitude operations in industrial production, including cleaning, descaling and spraying of large ships, inspection, flaw detection and maintenance of thermal power boilers, etc. This is due to their high work efficiency and high safety when compared with traditional manual operations. However, existing wall-climbing robots still remain some challenges that limit their development. Here, we propose a new type of wall-climbing robot capable of achieving floating obstacle-climbing by using springs and linear bearings and realizing magnetic adjustment by using electric push rods. We develop a theoretical model to analyze statics and dynamics of the wall-climbing robot, and then use Ansoft and Adams to analyze the process of obstacle crossing, magnetic attraction force, driving force and speed change. The simulation results demonstrate that the proposed wall-climbing robot can achieve the effect for floating to overcome obstacle crossing and adjustable magnetic force.
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