Kinematics And Dynamics Analysis And Structural Optimization Of Alternating Hoop Climbing Rod Robot

With the development of science and technology,more and more pole constructions,such as flag poles,telephone poles,billboards and cable stays,have spread all over the urban and rural places.In order to ensure the normal use of rods,it is necessary to clean,maintain and hang billboards frequently.The current cleaning methods are mainly manual cleaning,however,which have some shortcomings such as high cost and low efficiency.Therefore,a rod-climbing robot can be developed as a mobile platform,equipped with a specific cleaning device to climb rods,achieving low cost and high efficient rod cleaning and maintenance.The climbing robot researched in this paper is based on the modular design concept.On the basis of comparing various climbing mechanisms and climbing robots,the main structure of the robot is determined according to the operating environment of the rod to be climbed,and the worm gear mechanism is selected as the main movement.The rack and pinion is the lifting transmission mechanism and the mechanical gripper is the clamping mechanism.Focused on the analysis of the functional coordination between the various mechanisms,the degree of arm clamping coincidence and the change of the climbing friction parameter.The model performs virtual prototype simulation and finite element analysis to further complete the structural optimization design and achieve overall weight reduction.The main design contents are as follows:(1)Structural design of the pole-climbing robot.Comparing the movement and attachment methods of various rod-climbing robots,according to the requirements of robot working environment and performance,the paper determines the crawling gait of the robot,chooses the appropriate scheme for structural design and establishes a three-dimensional model of the robot.(2)Virtual prototype simulation analysis of the pole-climbing robot.Using the adams software to simulate the crawling movement of the climbing rod robot,which get the robot's trajectory and crawling distance,calculate the force of the mechanical claw and the climbing rod surface;draw the displacement of the center of mass of the rack and pinion mechanism and the clamping mechanism,change curve of speed and acceleration and extract force and moment.(3)Analysis of static characteristics of climbing robot.The paper uses ANSYS finite element software to perform modal analysis on the structure of the robot itself,verifies the rationality of the design structure,analyzes the static characteristics of the robot under the two dangerous conditions of movement of the manipulator loosening and clamping during the climbing process,and obtains the stress and strain In the area of maximum distribution,verifies whether the rigidity and strength of the climbing rod robot mechanism meet the functional requirements.(4)Structure optimization of the pole-climbing robot.The core mechanism is optimized on the basis of static analysis,and the weight reduction ratio of the rack system after shape optimization is 61.3%,the stress value reduction ratio is 25.8% and the strain value reduction ratio is 76%;the clamping device of post-mass increase ratio after response surface optimization is 19.89%;the stress value reduction ratio is35.11%,and the strain value reduction ratio is 85.60%;in order to improve the overall material utilization rate,the clamping device is topologically optimized to remove 20%and 40% of the material,respectively.The overall strength and rigidity are slightly weakened,nevertheless,the stress limit of the material has not been reached,and the overall weight of the robot meets the requirements.