Optimization of Structural Parameters for the Polyurethane Wheel of the Wall Climbing Robot for Storage Tank Cleaning

The wall climbing robot for storage tank cleaning uses polyurethane integrated wheels. The structural parameters of the polyurethane wheel affect the compression deformation of the wheel. If the compression deformation is too small, it will reduce the frictional force between the wheel and the steel plate, causing a risk of slipping. The article focuses on the research of the polyurethane wheel of the wall climbing robot for storage tank cleaning. Based on the three-parameter Mooney-Rivlin model, the parameters C10, C01, and C11 of the polyurethane material are determined by the compression test of the polyurethane. Based on the optimization goal, which is to maximize the compression deformation of the polyurethane wheel, optimize the parameters including thickness, radian and fillet of the polyurethane layer by Response Surface Methodology (RSM). Ultimately obtain the optimized size of the polyurethane layer that meets the requirements of actual working conditions.