爬圆锥杆轮式机器人的设计及动力学研究

Design and Kinematics Research of Wheel-Based Conical Pole Climbing Robot

为实现目前路灯杆的清洗及喷漆工作,在已有爬等直径杆机器人基础上,基于可在圆锥杆上爬行的轮式机器人结构,进行了理论分析计算;将得到的结果导入ADAMS中进行仿真,对上升过程中的侧倾现象进行分析,发现弹簧刚度不够是主要原因;针对弹簧力和杆直径变化关系,重新计算了弹簧刚度,得到了平稳的上升过程;针对弹簧刚度过大出现打滑的现象,最终得到了适合此类结构同样重量机器人的弹簧刚度范围。通过仿真可知,采用上升过程确定的主要参数,机器人下降过程同样稳定。

In order to achieve the light pole cleaning and painting work ,on the basis of existing equal diameter pole climbing robot, based on wheel-based conical pole climbing robot structure, it does some theoretical analysis and calculation;Imports the result to ADAMS to make simulation, analyzes the side sway phenomenon in the process of rising, finds that the spring stiffness not enough is the main reason, in view of the spring force and change of pole diameter, recalculates the spring stiffness, and gets a steady rise process, aiming at that the spring stiffness is too large, and the robot will appear skid phenomenon, finally getting a suitable for this kind of structure of the same weight of robot of the spring stiffeness range. According to simulation, adopts the major parameter which confirms in rising process, and the decline process is still steady.