Motion Simulation and Analysis of Four Wheeled Climbing Transformer Robot

In order to realize the reliable climbing of the climbing transformer robot on the transformer wall and solve the problems of unstable center of gravity and easy sliding of the current wall climbing robot, this paper studies the kinematics of the four-wheel climbing transformer robot according to the actual working situation, and establishes the two-wheel differential driving motion equation of the four-wheel robot and the steering radius equation of the four-wheel robot, The model of the climbing transformer robot is established by SolidWorks. After importing the model into ADAMS, the kinematics simulation analysis is carried out in ADAMS / view, and finally the motion characteristics of the four-wheel climbing transformer robot are obtained to ensure the wall climbing reliability of the wall robot.