Mechanics of Wall-Climbing Robots with Digital Twins

Abstract

Abstracts:[Purpose] In order to solve the narrow space at the bottom of the ship and the danger brought by the high-altitude work on the outer surface of the ship, which can't be contacted by human beings in close proximity, the magnetic suction wall-climbing robot is used to replace the traditional manual work.[Method] Creating virtual spaces through digital twin technology;According to the wall-climbing robot motion mechanism, the wall-climbing robot motion mechanics model is established;A mathematical model of particle swarm algorithm to optimize the magnetic suction force of wall-climbing robots;Build an experimental site to verify feasibility.[Results] Under the ideal inclined plane, the magnetic suction force of the robot during the simulation is not affected by the weight of the body, which is mainly related to the traction force of the motor, the height of the ship's wall from the ground, the length of the ship's outer plate, and the inclination angle of the ship's wall;During the experiment, the slope climbing angle verified the feasibility of the robot model.[Conclusion] This method can be applied to the field of wall climbing robots on steel external surfaces ref.

Keywords: Keywords:wall-crawling robot, digital twin, mechanical analysis, particle swarm optimization algorithm, simulation experiments