一种爬杆机器人的结构设计与性能分析  

Structure Design and Performance Analysis of a Novel Pole-climbing Robot

作　　者：鲍秀兰[1] 王琳涛[1] 黄家运[1] 甘地[1] 皇甫季璇 毛金城[2] 

机构地区：[1]华中农业大学工学院,湖北武汉430070 [2]武汉工程大学机电工程学院,湖北武汉430205

出　　处：《机械传动》2017年第8期62-66,共5页Journal of Mechanical Transmission

基　　金：国家自然科学基金(51605181);中央高校基本科研业务费专项(2662016PY017)

摘　　要：针对城市杆状建筑的清洗和维护问题,设计了一种新型爬杆机器人,采用一个驱动机构完成了移动和夹持两种功能。研究了爬杆机器人在攀爬过程中的步态,并建立了爬杆机器人的虚拟样机,利用多刚体动力学仿真软件ADAMS完成了机器人攀爬过程的仿真,分析了机器人攀爬过程中的位移、电机转矩与机械手夹持力的变化情况。仿真结果表明,机器人能够按照预定方向完成平稳的运动,电机转矩有一定波动但不影响机器人的攀爬稳定性。通过仿真分析可知,单侧机械手与灯杆之间平均接触力大小约为32.4 N,机器人对灯杆直径变化有一定的适应能力。A novel pole - climbing robot is proposed for the cleaning and maintenance of urban pole - shaped buildings, by using a drive mechanism to complete the movement and clamping. The gait of the robot during climbing process is studied. The virtual prototype of the climbing robot is established. The climbing process of the robot is simulated by using ADAMS, which is multi - rigid body dynamics simulation software. The changing situation of displacement of the robot, torque of the motor and gripping force of the manipulator are analyzed. The simulation results show that the robot can complete the smooth movement according to the intended direction. The motor torque has fluctuation, but the climbing stability of the robot is not affected. The average contact force between the unilateral manipulator and the lamp poles is 32.4 N. The robot has a good adaptability for the diameter variation of poles.

关 键 词：爬杆机器人 步态分析 虚拟样机 动力学仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]