Design and analysis of an obstacle-crossing wall-climbing robot mechanism

It is a general trend in wall-climbing robot development with good performance of crossing obstacles. The climbing robot which has strong ability to cross obstacles is able to adapt to a wide working range. The novelty of the robot is that it uses a new obstacle method which can effectively across a large bump obstacle, grooves, cross over the wall. In addition, it has a good flexibility, and strong mobility. The paper derives kinematic equations to analyze when the robot climbs across the obstacles raised, grooves, cross-wall mode and other several sports. Finally, the results of simulation and experiment show that the institution can achieve the desired objectives, it has high speed, flexible movement and strong ability to across the cross walls.