四驱式爬缆机器人结构及动力学分析

Structure of a Climbing-cable Robot with Four-drive and Its Dynamic Analysis

在对现有爬缆机器人分析研究的基础上,提出了一种新型四驱式爬缆机器人结构;该爬缆机器人设计有两组对边驱动装置,交替作业可使机器人避开缆索上一些小型元件。通过控制夹紧机构,机器人可利用重力实现匀速安全回收,节省了能源。通过对该爬缆机器人的动力学分析,得到了夹紧力条件和驱动力条件。研制出了样机并对其进行了多次实验,实验结果表明,该机构运行平稳可靠,越障性能较好,能够达到实验的预定目标。

Based on the analysis of existing cable-climbing robots, a new climbing-robot with four-drive was proposed. The robot is designed with two groups of drive device. Alternate operation allows the robot to avoid some small components on the cable. By controlling the clamping mechanism, the robot can realize uniform and safe recovery by gravity. The energy is saved. According to the dynamic analysis of the cable climbing robot, it deduced the cable-climbing robot＇ s clamping force conditions and the driving conditions. A prototype is developed and a series of experiments are done. Tests results show that the mechanism operated smoothly and reliably, had a good obstacle performance and reached the targets of the experiment.