| With the continuous development of science and technology,robots are more and more widely used.As an important branch of the field of special robots,climbing robots are mainly used for the cleaning and maintenance of municipal engineering and industrial production facilities.Compared with the traditional manual operation,it has the advantages of safety,high efficiency and low cost.Therefore,climbing robot has a wide application prospect,and some solutions suitable for different working scenes have been proposed by domestic and foreign scholars.In the cleaning and maintenance work,the climbing robot needs to have good obstacle avoidance and load capacity,which requires light weight,compact structure and easy to carry and install.Based on the steady-state lateral deflection theory and method,this paper designs the structure of the climbing robot,adopts the spherical foot wheel structure,and selects the double head motor to drive,so as to reduce the number of motors.Using ANSYS Workbench to carry out finite element simulation analysis and multiobjective parameter optimization of the designed key structures,and check the strength of each structure in the working state;At the same time,in order to approach the actual working condition,the rigid-flexible coupling kinematics and dynamics model of the climbing robot is established based on ADAMS,and its stability under different motion states is analyzed.Finally,according to the principle of space voltage vector control technology,the model of permanent magnet synchronous motor is established,and the simulation analysis is carried out to obtain the response speed and torque ripple of the motor,verify the working accuracy and system reliability of the climbing robot.Figure 59;Table 12;Reference 58... |
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