| People work and live around the area with various types of poles,such as utility poles,monitor poles,streetlight poles,advertising poles,etc.Such poles often require frequent cleaning and maintenance work.Currently,these tasks are generally performed by manual operation of the aerial work vehicle,which is time consuming,laborious and inefficient.Pole-climbing robot can be allowed to develop as a mobile platform,equipped with special working devices to climb the poles to to any height of the pole to clean and maintain the pole.The pole-climbing robot studied in this paper is based on the modular design concept and combined with the size and shape data of various types of poles.The scotch yoke mechanism is adopted as the transmission mechanism,and the flexible claw is used as the clamping mechanism,which ensures the overall structure is light and compact,and it has strong adaptability to the diameter and shape of the pole and has high maneuverability.This paper mainly focuses on the pole-climbing robot.The kinematics analysis and static analysis are carried out by establishing the virtual prototype and finite element model of the pole-climbing robot,and the structural optimization and modal analysis of the robot are further completed.The main design studies are as follows:(1)Conceive and compare various movement methods and attachment methods of the pole-climbing robot,select the appropriate design scheme for structural design and establish a three-dimensional model of the pole-climbing robot.(2)Kinematics simulation analysis of the the pole-climbing robot.The MSC Adams software simulates the normal climbing action of the pole-climbing robot to obtain the data curve of the moving track of the pole-climbing robot,the gripping range of the gripper,and the friction between the gripper and the pole.(3)Static characteristics analysis of the pole-climbing robot.The finite element static of the pole-climbing robot is analyzed to obtain the cloud diagram of the stress and deformation of the key components under the extreme working conditions,the maximum stress and the maximum displacement are obtained and the structural strength and rigidity of the parts are verified.(4)Topology optimization and modal analysis of the pole-climbing robot.According to the finite element static analysis results of the important parts of the poleclimbing robot,the topology optimization of the pole-climbing robot reduces the weight of the upper top part and the lower top part by 35.6% and 32% respectively,the strength and modal analysis of the model after optimization is performed. |
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