Design And Research On Metamorphic Mobile Mechanism Of The Inspection Robot With Planetary Wheel

As the requirement of automation has been constantly raised in modern society,robots are greatly developed as advanced technological ways to meet the practical demand in special working environment.Power transmission line maintenance robot,which needs to be under strong electromagnetic,overhead and high voltage working condition,is a representative robot among them.Robots for special working environments need to process good performance on mobility,obstacle crossing,maintenance manipulation.Furthermore,robots should own the capability of environment state detection and behavior planning based on the detection.At the same time,the theory of metamorphic mechanism can be improved,which provides some new ideas to solve the problem of similar projects and which is of great significance for the electric power industry and the national production safety.This paper puts forward a new type of planetary wheel inspection robot metamorphic mobile mechanism,the main contents of the thesis include integrated design,kinematics and dynamics analysis,obstacle navigation performance and mobile mechanism configuration analysis,3d modeling and virtual prototype simulation.Firstly,the design of robot mechanism and principles of the obstacle-surmounting are introduced.Based on the analysis of the traditional wheeled mobile robot,the shortcomings of performance and low stability of climbing obstacle,and on the basis of the principle of metamorphic mechanism,a new type of mobile robot for planetary wheel inspection robot is proposed,and its configuration and working principle are introduced in details.Secondly,robot kinematics model is established and numerical simulation is analyzed.The robot kinematics model is established,with reasonable simplification and assumption of inspection robot model.The robot process is divided into four stages,and robot kinematics model of different stages are established.In addition,through the analysis of the model and solution,four different stages of the robot trajectory equation and velocity equation and acceleration equation are obtained.Analysis of Matlab numerical simulation,the simulation curves show that the simulation results and theoretical analysis is consistent with the conclusions of obstacle.Then,the obstacle-navigation and climbing abilities of robot are analyzed deeply.obstacle-navigation and climbing performance is analyzed between traditional wheel inspection robot and planetary wheel inspection robot.The paper establishes a quasi static mechanical model of the planetary wheel radius,studying the relationship between the walking wheel radius,obstacle height and slope angle of the transmission line.Furthermore,the influencing factors on climbing performance are analyzed for planetary wheel inspection robot and improvement measures are put forward.Then,the adjacency characteristics changing structure transformation process of robot metamorphic mobile mechanism are described.Based on the principle of metamorphic mechanism,the process of configuration transformation of the mobile robot is analyzed.Besides,the topology and the adjacency matrix of robot under different configurations are obtained through the adjacency matrix method.The adjacency characteristics changing and structure transformation process of robot metamorphic mobile mechanism are described in details for each component in the process of metamorphic mechanism.Finally,the robot working simulation is analyzed through the Adams software and the finite element analysis was carried out on the robot key components.Using software Solidworks to build model of the robot mechanism,and through the Adams software to simulate the robot working simulation,and draw diagrams corresponding kinematics and mechanics parameters,which is consistent with theoretical conclusion.To verify the parts safety and rationality of structure design,the finite element analysis was carried out on the robot key components.