Aiming at the problem of the live working inspection robot walking wheel in walking and climbing

first

the robot climbing ability with static method is analyzed

the pressing wheel mechanism is designed

as the pressing wheel and the walk wheel at the point of contact line speed is the same

the use method of reading the pressing wheel speed indirect identification of walking wheel slip is proposed.After identify the slip state

it is found that the accurate mathematical model cannot be used to control the slipping state

and the fuzzy control can effectively solve the problem of slipping control.The experimental results show that the design of the pressing wheel mechanism increases the friction wheels

lifting the robot climbing ability.In the walking wheel climbing ability range

slope is the main factor affecting the robot slip

fuzzy control method proposed in this paper can effectively eliminate the slipping phenomenon