Climbing Robot Mechanism Design And Mechanical Analysis And Simulation Of Clinbing Movement

With the expansion of mobile robot's application scope and the improvement of operation requirements,the climbing robot for space movement has been widely concerned by scholars in recent years.The climbing robot needs to find a suitable foothold in the complex environment and consider its own balance.Therefore,according to the climbing environment,the key point is how to generate the path planning which can not only make the whole robot maintain balance and stability but also find the support point on the wall surface.This paper analyzes the main problems of climbing,including grasping,balance and path planning.To solve the self-balance problem,the statics analysis of climbing movement is carried out to obtain the static stability condition.Secondly,the dynamic equations were derived to obtain the relationship between the driving force or driving moment of each joint and the physical parameters,kinematic parameters and the load on the system.Finally,taking the humanoid climbing robot as an example,the stability region of the center of mass in the three-point contact is calculated to ensure the robot's own stability in the process of changing the grip point.Path planning takes the contact state of climbing robot as the node in the path.Starting from the initial state,neighboring nodes are connected to build a state graph.In the state graph,cost functions are constructed to describe the cost of each node and the cost of connecting adjacent nodes.After planning the path,CMA-ES algorithm was used to plan the movement of each joint,and the climbing movement was simulated,a cost function was used to evaluate the posture.According to the motion requirements of the climbing robot,the overall mechanism design was completed,the joint distribution and motion range were determined,and the forward and inverse kinematics of the arms and legs were calculated.A hand-grip mechanism with tendon rope driving and self-locking mechanism is designed.The tendon rope drives the finger joint to the specified position,and the hand-grip can maintain a fixed grasping posture through the self-locking bearing at the joint.Using ADAMS software to simulate the climbing motion,the trajectory planning is simulated in Cartesian space and joint space respectively,and the difference between the two methods is analyzed from the motion curve of the joint.Then,the process of the robot moving from the ground to the wall is simulated,the change of contact force is analyzed,and the influence of four velocity curves on the robot movement is compared.Finally,simulation was carried out on the grasping performance of the hand,and two different types of grasping points were grasped in different postures.The results show that the grooves with distributed fingers have the best grasping performance.Although the extended grasping point can be selected as the grasping point,it can only share a small part of the gravity.