某爬缆机器人结构分析及改进

Structural Analysis and Improvement of a Cable Robot

对某爬缆机器人的结构和工作原理进行分析,总结了影响爬缆机器人运动稳定性的因素,研究弹簧预紧力、轮子与缆索间摩擦系数等参数对其驱动力矩的影响,根据分析结果对机器人系统进行研究及优化。结果表明,较大的摩擦系数和弹簧预紧力可以提高爬缆机器人的运动稳定性,摩擦系数、预紧力对驱动力矩的影响较大。

The structure and working principle of a climbing rope robot were analyzed,and summarizes the factors affecting the stability of climbing rope robot movement,the spring pre-tightening force,coefficient of friction between the wheel and cable,etc.The influence of parameters on the driving moment,according to the analysis results of robot system are studied and optimized.The results show that the high friction coefficient and spring pretension can improve the motion stability of the robot,and the friction coefficient and pretension force have great influence on the driving torque.