Abstract
A suspended fire fighting robot was presented, and the prototype was developed. The robot changed its posture by the blowing forces from the fans; the PID algorithm was analyzed and applied to control the rotating speeds of the fans in order to realize posture adjustment. A high speed propeller driven by an engine pushed the robot approach to the target; the relation between steering angle and thrust force was studied; a sliding table structure was developed to make the robot move steadily by changing the gravity position; the control algorithm of the propulsion system was analyzed.
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