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The underwater ship hull cleaning robot researched in this paper belongs to the wall-climbing robot and has wide application value.

本文研制的水下船体表面清刷机器人是水下移动机器人的一种类型，具有广阔的应用前景。

Firstly, the dissertation describes the classification and characteristic of wall-climbing robots, and gives a detail description of the robots'development both abroad and home.

本文首先介绍了爬壁机器人的分类及特点，并对国内外的发展状况作了较详细的总结。

To fulfill high precision of the movement, the omni-directional wheel is designed to serve as moving mechanism of the wall-climbing robot.

为满足超声焊缝探伤对机器人移动精度的要求，采用了称为麦克娜姆轮的全方位车轮作为机器人的移动机构，并获成功。

This thesis had offered a new project to measure the three-dimensional position and the driving-system of the wall-climbing micro-robot.

本文为微小步行爬壁机器人驱动系统和三维位置检测技术提供了一种新颖的方法和途径。

In this paper, according to the specific requirements of the use of stepping foot eight institutions, located Of a wall-climbing robot's pneumatic drive system and control hardware.

本文根据具体要求采用了八足步进机构，设计了一种爬壁机器人的气压传动系统及控制硬件。

Wall-climbing micro-robot's driving mode and structure have been discussed in this thesis, and offered three types of driving modes and structures, and had made two experiments models.

论文还对微小步行机器人驱动方式及结构进行了研究，提出了三种驱动方式及实现结构形式，研制出了两种结构的微小步行爬壁机器人实验样机。

Although the wall-climbing robot has been carrying out in the field of robotic system for many years, but the research is focused on the design of the mechanism and control system.

幕墙清洗机器人的研究主要集中在样机搭建、机构设计和控制系统构建等问题上，国内外已经出现了多种样机，研究成果各具特色，但总的说来研究工作仍然处在样机的研制和实验阶段，其关键技术与理论有待于进一步深入研究。

Four sets of this kind of omni-directional wheel consist the mobile platform of the wall-climbing robot, which makes the whole system move on the wall surface freely.

机器人移动系统采用的是无轨吊索和轮式全方位移动相结合的方式，保证机器人系统在壁面上自由运动。

In this dissertation, firstly, based on the existing achievement of studying on the wall-climbing robot in the world, integrating the characteristics of high glass-curtain cleaning, further studies the common problem of wall cleaning robot, such as the technology of adhering and cleaning.

本文在国内外现有的壁面移动机器人研究成果的基础上，首先结合高空幕墙清洗作业的特点，对幕墙清洗机器人的共性问题——附着技术、清洗技术进行了较为深入的研究。

It is a vertical wall in the road on the way through the steps in the direction of vertical movement 4 wall-climbing robot and its control system.

由气缸驱动机器人脚步的交替移动以实现在垂直表面的自由移动。

A carrier gas such as nitrogen is directed through line 20 and valve 22 to connect with line 26 and mix with the gas sample.

如氮气之类的载体通过管线20和阀22引入，与管线26相通，与气体样品混合。

But for the most part, knaves and parasites had the command of his fortune

然而支配他的家产的大多是恶棍和寄生虫。