Design of Marine Cage Climbing Robot and Dynamic Compensation of Attitude

Aiming at the problem of mesh blockage caused by biological attachment in marine aquaculture cages, this study developed a mesh climbing robot with autonomous posture correction function to replace manual coating of antifouling coatings. The robot is designed with two-axis motion mechanism, and the horizontal and vertical flexible movement is realized by orthogonal configuration of XZ axis carbon fiber board. With the double rocker hook claw mechanism, the problem of flexible mesh surface adsorption is solved. Based on the static mechanical analysis, the torque balance equation including gravity, support force and adsorption force is established, and the relationship of key parameters is derived. Based on this, the <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$400 KG \cdot mm$</tex> reduction motor is selected and the structure size is optimized. Aiming at the tilt problem of the body that is easy to occur during the movement, the Z2 axial linear guide rail is introduced, and the attitude sensor data feedback and dynamic compensation are combined to adjust the tilt angle of the body in real time. Experiments show that the robot can achieve stable grasping and continuous motion on the vertical mesh surface.