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本文讨论了用履带式磁吸附爬壁机器人实现喷漆的问题，阐述了喷漆机构运动的实现以及如何保证喷漆连续条件．设计了可工作于平面和弧面的喷漆机构，并且在罐壁上进行了实验，达到了预期的效果
This paper discusses the problem of painting with crawler magnetically attracted climbing robot, expounds the realization of painting mechanism movement and how to ensure the continuous painting condition. Designed to work in the plane and the arc of the paint body, and in the tank wall experiments to achieve the desired results