Research On Kinematic Theory And Dynamics Of Pole-climbing Robot

With the development of the science and technology,robotics have become more widely used in industrial production and daily life.With the growth of the economic, there are a lot of high-rise buildings such as the poles,the road poles and cable-stayed bridges appeared in the numerous cities and towns.How green,highly efficient and low-cost practical solution to these sets together with the aesthetics of the cleaning rod-shaped urban construction,maintenance,which is a subject of study for Environ-mental protection workers for a long time.After a long period of bio logical natural selection evolved in the structure, function execution,information processing,adaptation to the environment,self-study, etc.with a high degree of rationality,science and progress,and more suitable for unstructured,unknown work environment and the intricate complexity of difficult tasks,which is the dynamic objective proposed and the developed by bio-robot.In this paper,focusing on green environmental protection,from the point of view of bionics,mainly research design methods and design criteria of pole cleaning robot.Pole-climbing-robot has a very huge family,Carries on the division from the power supply,which can mainly divides into machine type and aerodynamic type. Carries on the division from the with or without control stratification plane,which can mainly divides into medium-sized and intelligent type.which comprised the medium-sized no more then the power supply and the actuating mechanism, compared to the medium-sized,intelligent type have feedback control system in addition.The medium-sized is difficulty in achieving the movement than the intelligence type.In the paper,the Wormlike imitated pole-climbing robot what the author designed and manufactured is non-intelligence mechanical crawler.Based on compared the merits and demerits of several kind of crawling mechanism,confirmed the general structure of robot body.Based on above-mentioned,expatiated the principle of bionic crawling and the theory of modular designing on robot in detail.Based on the dimension data of poles,we have designed and manufactured the model of robot.The design methods and design guidelines during the course of robot modeling(achieve the movement and optimum structural design) following several key points:Functional coordination between agencies,choice of climbing arm gripping coincidence,changes of climbing force, the relationship between the structural parameters,choice of zero point of climbing force and its transition in pole-climbing robot designing.Provides references for this kind of crawling robot's designing.In the paper,the kinematics and dynamics simulation analysis on robot have been done.start movement analog simulation analysis on robot model which built in Solidworks in using ADAMS,test the moving parameters of moving element and the stress situation and optimize the dimension parameters of robot model.Key components such as arm connected to the extraman in robot is very important to robot's stable crawling,carries on the beating test on robot model by used the Finite Element Analysis Software ANSYS,then look over the deformation and the deflection at last.