新型连续移动式缆索机器人的结构设计与动力学分析

Structure design and dynamics analysis of a novel continuous mobile cable robot

针对当前缆索维护作业自动化的迫切需求,设计出一种新型连续移动式缆索机器人装置的可行性方案,该机器人采用电动机驱动,并配合滚轮结构,使机器人在爬行和越障过程中均可实现快速、连续地移动。介绍了机器人的机构组成、工作原理及运动特点。在此基础上对机器人进行动力学分析,综合考虑机器人在非越障爬升状态和越障爬升状态下的运动要求,计算出机器人在缆索上工作时所需的附着力、临界驱动力和最大驱动力,进而对电机的参数做出初步估算。

To meet the urgent demand for current maintenance automation of cable, feasible plan for a novel type of continuous mobile cable robot was designed in this paper. The robot was driven by motors, enabling it move along cable faster and more stable during climbing and obstacle climbing by introducing roller structure. This paper describes mechanical construction, operating principle and kinetic characteristics of the robot. Kinematics analysis is done on the basis of preliminary work. The dynamic demand of the robot both in the obstacle-surmount state and non-obstacle-surmount state was considered comprehensively, the required force for adhesion, the critical driving force and the maximum driving force when the robot is working on the cable has been calculated, making it possible to carry out preliminary estimate of the motor parameters.