Research On Structure And Control System Of Double Parallel Climbing Robot

Robot technology is applied more and more widely in today's world.As a branch of robot technology,pole climbing robot has made some achievements both in research and application.At present the pole climbing robot,the most species most widely applied to the number of Inchworm type pole climbing robot,running the most stable state is self-locking pole climbing robot;of course there are many other different types of pole climbing robot,the pole climbing robot also has its own advantages.However,most climbing pole robots have adopted a single structural design method.This design method leads to these poles climbing robots have their own characteristics and disadvantages.Therefore,if we can synthesize a new mechanism according to different types of pole climbing robots,the mechanism has the advantages of most climbing robots,which will further expand the application field of climbing robots.At present,there are few researches on the structure design of climbing pole robot with and in series hybrid structures.Most of the current structure of crawling robot uses a single series or parallel structure,and they can not combine the advantages of series and parallel.Therefore,in order to achieve the purpose of climbing sports,this paper designs a new and tandem climbing mechanism based on Stewart platform,based on self locking principle,parallel serial hybrid mechanism and modular design principle.First,the actual application is analyzed,and the general plan is put forward.According to the general plan,the parts of the mechanical structure are designed.Then the 3D modeling and assembly of the mechanism is made by using the 3D software ProE,and the overall structure of the climbing robot is obtained.Then,the kinematic analysis of this structure,the main characteristics and the degree of freedom serial mechanism research,using screw theory and the mechanism of influence coefficient theory to derive the velocity and acceleration of the mathematic model of the mechanism,the movement space of the climbing mechanism were analyzed.And the kinematics simulation is carried out by ADAMS.Then,aiming at the climbing mechanism,we build the hardware platform of the motion control system,take the STM32 control chip as the core of the controlhardware,design the basic circuit of the control system,LCD display circuit and stepper motor control circuit.Finally,based on hardware circuit and robot motion control requirements,we design various parts of the program,including main program,motor control program,key operation level and LCD display program.Finally,we make the experimental model,carry out the test and analyze the result.