Design and Analysis of a Cross-Frame Wall-Climbing Robot

This paper analyzes the operating environment and actual use requirements of the photovoltaic glass curtain wall cavity in high-rise buildings, designs a cross-frame motion mechanism that combines the obstacle-crossing lifting and adsorption modules into an obstacle-crossing adsorption device and integrates the motion mechanism of the robot into one. In terms of the design of the robot's control system, all working conditions of the robot are defined according to the motion state of the robot in the cleaning test of photovoltaic curtain wall cavities and combined with indicators such as coverage and cleaning speed of the photovoltaic cleaning test of photovoltaic curtain wall cavities, a set of automatic control system suitable for cross-frame wall-climbing robots. In the experimental section, we tested and analyzed the robot's motion performance, obstacle-crossing ability, and control system, proving the rationality of the robot structure and control system.