Research And Design Of Tripled-Pole And Quadrupled-Foot Climbing Robot

Transmission tower climbing robot is one of the research emphasis at home and abroad, it is a specialized robot with wide application prospect. With the development of our country electronic system level, many experts focus on the research of climbing robot gradually, it can replace workers to climb every dangerous area of transmission tower, and detecting the damage and flaw of surrounding by using special tools. Base on the research situations and developing trends at home and abroad in this thesis, analyze the climbing environment of robot, introduce a novel tripled-pole and quadrupled-foot climbing robot, and do some designs and kinematics analysis on this main structure of robot according to this scheme.On this paper, firstly, we have designed and optimized on the main structure of robot according to the climbing environment of transmission tower, base on bionics principle, establish few kinds of climbing plan, and improved the plan on this robot according to the many kinds of climbing environment to make sure that the robot have a great adaptability for climbing environment and stability for climbing process.Secondly, according to the scheme, we have determined the robot structure concretely, analyzing the working principle, carried out the robot that is consisted of three poles in series each other and two biaxial compound rotation joints and two triaxial compound rotation joints, there is a gripper in every joint, called tripled-pole and quadrupled-foot climbing robot, we have modeled this robot structure by CATIA software.Finally, we completed force analysis on every connecting rod in the process of robot movement according to the robot structure, build up coordinate system model for this robot, solved kinematics equation of robot by homogeneous coordinates conversion and work space of this robot by MATLAB software.