中文摘要：

针对带电巡检机器人在行走及爬坡时出现的行走轮打滑问题，首先采用静力学方法分析了机器人的爬坡能力，设计了压紧轮机构，由于压紧轮与行走轮在接触点的线速度相同，提出了利用读取压紧轮的速度间接识别行走轮打滑的方法；对打滑状态进行识别后，发现无法利用准确的数学模型对打滑状态进行控制，而采用模糊控制可有效解决打滑控制问题；实验结果表明：压紧轮机构的设计增加了行走轮的摩擦力，提升了机器人的爬坡能力；在行走轮爬坡能力范围内，坡度是影响机器人打滑的主要因素，文中提出的模糊控制方法可以有效消除打滑现象。

英文摘要：

Aiming at the problem of the live working inspection robot walking wheel in walking and climbing, first,the robot climbing ability with static method is analyzed,the pressing wheel mechanism is designed,as the pressing wheel and the walk wheel at the point of contact line speed is the same, the use method of reading the pressing wheel speed indirect identification of walking wheel slip is proposed.After identify the slip state,it is found that the accurate mathematical model cannot be used to control the slipping state, and the fuzzy control can effectively solve the problem of slipping control.The experimental results show that the design of the pressing wheel mechanism increases the friction wheels,lifting the robot climbing ability.In the walking wheel climbing ability range, slope is the main factor affecting the robot slip,fuzzy control method proposed in this paper can effectively eliminate the slipping phenomenon