| The research object of this thesis is the hanging rail type robot,which is used for the safety inspection of the environment and equipment in the cable tunnel.In this robot,the circular tube cogging rail was used as the space bending track,the universal guide wheel group was used to support the moving part of the robot on the track,and the gear cogging drive scheme was used to drive the robot.In this thesis,the attitude change and dynamic characteristics of the mobile mechanism of the inspection robot in different curved sections were studied.Based on the mobile mechanism of the robot,the attitude changes of the mobile mechanism in the process of horizontal turning and vertical plane climbing were analyzed,and the relationship between the attitude changes and its geometry and orbit dimensions was obtained.The dynamic model of the moving part was established by Newton Euler method.The natural frequency and vibration response curve of the moving part system were obtained by using the eigenvalue decomposition method of MATLAB.The dynamic response of the gear rail drive system to the climbing of the travel unit was studied.The dynamic characteristics of inspection robot under different conditions of straight track,climbing slope,downhill and turning were simulated,and the relevant experimental research was carried out by using the physical prototype.The results showed that the vibration was the smallest when driving in straight line and the largest when climbing slope.The inspection robot runs stably in the whole inspection process,which will not affect the inspection effect.This paper has 53 figures,4 tables and 86 references. |
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