Development Of Stepping Climbing Robot For Electric Angle Steel Tower

At present,climbing robots have been applied in all walks of life in society.For different application scenarios,climbing robots with different functions have appeared,such as traditional wheeled,sucker,crawler robots and truss for vertical wall operation scenarios.Adsorption,stepping,creeping and leapfrogging robots in job scenarios.The power angle steel tower belongs to a more complex truss-type working environment.The power angle steel tower climbing robot(tower climbing robot)refers to a type of special robot with a clamping or adsorption device that realizes its steady movement through joint flexion,extension or torsion.Compared with traditional climbing robots,its structure tends to be thin and long,with various gaits,strong environmental adaptability and fault tolerance,and unique obstacle-crossing capabilities.At present,domestic and foreign researches on tower climbing robots focus on creeping leapfrogs in crawling methods,and not much research on stepping.This paper takes the stepping truss climbing tower robot as the research object,and discusses and develops a series of related problems from the structure of the robot to the simulation to the control.The main contents are as follows:(1)The robot’s operating environment is analyzed in detail,and a stepping robot climbing tower scheme is proposed from the perspective of bionics.The robot clamping mechanism model is established by means of grasping and electromagnetic adsorption,and the transmission mode of screw slider is established.The robot climbing mechanism model was designed,and a 5-degree-of-freedom mechanical arm was designed as a robot operating platform.Starting from the whole,the working principle,stress situation,selection basis,mechanism function,etc.of each mechanism module of the robot are elaborated in detail.(2)The standard D-H method was used to analyze the forward and reverse kinematics of the 5-DOF manipulator operating platform on the robot.Combined with the actual work requirements of the robot arm and the situation on the spot,the Matlab Robotics toolbox was used for the motion simulation.The calculated data is used to guide the movement of the manipulator,and the correctness of the simulation data is verified by the actual operation on the experimental platform.(3)From the two aspects of hardware architecture and software system,the electrical control system of the robot is established.According to the actual climbing process of the robot,the climbing gait of the robot and the program logic of the software system are planned.The working principle,driving mode and module function of each power element and sensor element in the robot electrical system are expounded.Finally,according to the needs of robot operation,a host computer software platform was designed and written to assist operators to send instructions and monitor important robot module parameters.(4)After the robot modeling,simulation verification,electrical control system platform,etc.were completed,the tower climbing robot prototype was guided and produced.Finally,the robot climbing tower and manipulator arm tasks were actually operated on the experimental platform.The experimental results show that the stepping electric angle steel tower climbing robot meets the requirements of the design index.