| Transmission tower is an important equipment of power system,which bears on the responsibility of long-distance power transmission.Due to long-term exposure to complex and harsh environment,transmission tower and line equipment will be damaged by corrosion,seriously affecting the safe operation of the power system.In order to guarantee the security of long-term operation,transmission tower and transmission line should be inspected and maintained manually.The risk factor for the first person to climb the tower is high.Once the fall occurs,it is difficult and long-lasting to be rescued by traffic and environment.Therefore,power grid companies need to research the first robot auxiliary installation personnel for temporary,to replace the first crew to climb the tower.On the basis of investigating the climbing robot technology at home and abroad,combined with the bionics principle and method,inspired by the movement mode of silkworm and studies its biological structure and movement mode,this paper proposes a climbing robot model based on silkworm characteristics.The gait of the robot is analyzed and optimized,and the climbing function of the robot along the tower is realized by virtual prototype technology.According to the working environment and functional requirements of the climbing robot,the overall structure of the climbing robot is designed,and the 3D solid modeling of the prototype is completed with the help of software.The strength of key parts is checked by finite element method.The static analysis of the robot is carried out to determine the minimum magnetic adsorption force of the magnetic adsorption unit when the climbing robot is not unstable.The kinematics model of climbing robot is established by D-H method and the Jacobian matrix is obtained.Monte Carlo method is used to simulate and analyze the working space of the climbing robot,which lays a foundation for trajectory planning and motion control of the robot.Based on the kinematics analysis of robot,the dynamics equation of climbing robot is established by Lagrange method.The prototype model of climbing robot is imported into ADAMS environment to simulate the process of obstacle crossing and turning.The variation curves trend of displacement,velocity and driving torque of the robot in the process of motion are analyzed to verify the rationality and stability of the robot,and provide certain theoretical basis for the optimization of robot structure and the manufacturing of physical prototype.In this paper,the related theoretical research,structural design and simulation analysis of the climbing robot are carried out to provide theoretical and technical with the auxiliary installation of the temporary anti-fall device for the first crew to climb,which has high practical application value. |
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