Design and Intelligent Control of Flexible Limbs of Tower Climbing Robot

In the gecko-like tower climbing robot system, robot limbs play an important role. Based on the system engineering principle, a robot with four flexible limbs is proposed and designed with the functional modules.The structure, position, and state of the hinge end of the robot flexible limb are planned to ensure that any combination of three hinge points from the four determine the correct position of the chassis at any time without interference. During the climbing process, the precise screw mechanism and the front-end sensors are used to judge and obtain the next holding target, and the “W” type sensing region is set to make the discrete small sensing elements form a continuum, so as to ensure that the system can obtain the target information of the handle in real time. Due to help handle arranged on the tower and uneven distribution of handles on the tower, each climbing step, the flexible limb should make readjustment, and the palm and fingers will grasp the handle properly with the pressure-uniform algorithm, not only making the palm center and the handle center overlap, and also adjusting grip strength in reliability.