Design And Analysis For A Kind Of Climbing Deicing Robot Based On Hybrid Mechanisms

With the increasingly serious energy crisis in the world,wind energy,as a renewable energy,has gradually attracted the attention of governments around the world,and the installed capacity of wind power has also increased by leaps and bounds.But at the same time,the safe operation of the wind turbine becomes a serious problem after the blade icing in the cold season.At present,most of the domestic and foreign scholars study single operation or mobile robots,while there are few robots with the ability of moving and operating at the same time.Based on the above background,this paper designs a climbing deicing robot by the way of series parallel hybrid.The robot has many moving modes,such as creeping gait,climbing gait and transition gait.Its excellent moving performance makes it adapt to the complex terrain,and has the characteristics of strong bearing capacity of parallel mechanism.The deicing device on the robot can realize the blade in the fixed place Deicing work.Based on the design goal of climbing deicing robot,this paper comprehensively considers the main application scenarios,flexible performance,processing difficulty and other factors of the robot,and determines the system scheme of climbing robot structure.The whole robot adopts the modular design idea,according to the function,the robot and human are divided into climbing module,deicing module and adsorption module.The forward and inverse kinematics solutions of the single parallel module of the climbing mechanism are analyzed,and several special positioning positions of the parallel mechanism are solved by theoretical calculation and MATLAB joint simulation.In order to control the end platform better,the speed and workspace are calculated.According to the relationship between workspace and mechanism size,the robot size is optimized.On this basis,the constraint equation of the robot in the fixed position working mode is established,and the kinematic analysis of the whole climbing deicing robot is completed,which lays a theoretical foundation for gait planning.According to the structural characteristics of the wind motor,the gait planning and Simulation of the robot are completed,and the steps of the robot in climbing gait,creeping gait and transition gait and the problems that should be paid attention to are analyzed.In addition,the deicing mode of the robot in stable adsorption is designed,and the stability of the robot in climbing and working of the wind motor is analyzed.The constraints and materials are set in ADAMS virtual software Attribute,compare and analyze the motor output force and power consumption of the robot in climbing and creeping gait,get more practical climbing data,and lay a theoretical foundation for the later prototype production.