Design of a Master-Slave Composite Wall Climbing Robot System for Penstock Assembly Welding

  • Jiashe Zhu
  • Zhenguo SunEmail author
  • Wei Huang
  • Qiang Chen
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11741)


Nowadays, the penstock assembly welding of hydroelectric power stations is carried out by manual arc welding. In order to improve the working environment and raise the welding efficiency, this paper proposed a master-slave composite wall-climbing robot system based on gapped permanent magnet adhesion. With the master-slave composite design idea, the payloads of welding robot are shared and the flexibility and stability of the robot are improved. As a key mechanism of wall-climbing robot, the design and layout of the permanent magnetic adhesion module is studied. According to the result of static analysis and dynamic analysis of the welding robot, an optimized layout for adhesion module design is found. A Prototype of the robot system is built and experiments on the adhesion ability and motion ability of the robot system are carried out.


Wall climbing robot Welding robot Penstock assembly 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Jiashe Zhu
    • 1
  • Zhenguo Sun
    • 1
    Email author
  • Wei Huang
    • 1
  • Qiang Chen
    • 1
  1. 1.Department of Mechanical EngineeringTsinghua UniversityBeijingChina

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