小型风电塔筒检测机器人设计与运动性能分析

Design and Motion Performance Analysis of Small Wind Power Tower Detection Robot

介绍一种小型爬壁机器人,用于风电塔筒的检测,以实现难以人工检测的风电塔筒的快速检测。对机器人的整体结构进行了设计,对机器人的吸附结构进行了计算和仿真。对机器人进行动力学分析,验证驱动力矩的计算结果。对机器人进行动力学仿真,确定驱动机构输出转矩的平稳性。通过实验验证了机器人能够在塔筒表面安全稳定地运行。

A small wall climbing robot was introduced,which was used for the detection of wind power tower,especially for the fast detection of wind power tower which was difficult to detect manually.The overall structure of the robot was designed.The adsorp⁃tion structure of the robot was calculated and simulated.The dynamic analysis of the robot was carried out to verify the calculation re⁃sults of driving torque.The dynamics simulation of the robot was carried out to determine the stability of the output torque of the driving mechanism.The experimental results show that the robot can run safely and stably on the tower surface.