Analysis of Permanent Magnetic Tracked Wall-Climbing Robot's Turning Agile Capability

This paper analyzed the turning agile capability of the permanent magnetic tracked wall climbing robot based on the structural characters of the robot and its working condition characters. Upon the robot's static forces equation, kinematic equation and the dynamics equation, the turning agile capability factor kA of the robot is defined, which is based on the ratio of total power of the turning moving and that of the linear moving. The relation between the safety factor and the turning agile capability factor is analyzed, and the range of the safety factor is optimized. The tracked suckers designed on the above results fulfill the requirement of the extended practical use.