The Stability Climbing Research On The Link Under-Actuated Mechanism And Crawling Robot

As a branch of the robot,crawling robot is an important development direction in the field of robot.Crawling robot research has become one of today hot topics in the field of robotics.With the exploration of the bionic robot research in recent years,some bionic crawling robots have been developed.Although the robots are able to crawl and operate flexibly,there are many shortcomings.Such as multi-drive components,complex structure,control cumbersomely,poor load ability.This article focused on the design to develop a simple,drive less components,heavy load capacity,and simple control of under-actuated climbing robot.Paper's main work includes: the structural design of robot under-actuated clamping mechanism,the theoretical analysis and calculation of geometric parameters and drive parameters;the statics and kinematics analysis of clamping mechanism and driving mechanism;climbing robot 3-d virtual prototype modeling and dynamics virtual simulation.Based on the study of the under-actuated institutions,on the basis of the references to the crawling robot under-actuated group,design the clamping structure of climbing robot,and reduces the complexity of structure and operation.A variety of sensors,motors,drives are selected for designing drive system,Using force closed loop and form closed loop theory research methods to analyze the statics model of envelope clamping and clamping stability;By using 3 d software SolidWorks and dynamics analysis software ADAMS to model and dynamics virtual simulation of the virtual prototype model,and validated the rationality and feasibility of the design.Comparing with ordinary crawling robot,link under-actuated robot has the advantages of low driving element climb,compact structure,simple control,high load crawling adaptability,etc.By applying the under-actuated mechanism on the climbing robot,not only can better enhance the crawling robot practice,and expand its application space to a certain extent,Which can be very good service in industry,agriculture,aerospace,military industry,etc.