Design And Analysis Of Transmission Tower Climbing Robot

First time climbers of power transmission tower have the task of installing safety rope,and there is a great risk of falling from high altitude without the protection of safety rope.In order to solve the safety problem of the people who climb the transmission tower and provide the theoretical basis for the robot to replace the human,it is particularly important to study the transmission tower climbing robot.On the basis of summarizing and analyzing the characteristics of different kinds of climbing robots,a robot model suitable for climbing transmission tower is proposed in this paper.Based on the bionics theory,this paper analyzes the environmental similarity of the climbing environment of transmission tower,and combines the climbing structure of silkworm to get the robot bionic structure suitable for the climbing environment of transmission tower.The motion process of the robot is analyzed,and the rationality of the robot motion is verified.In this paper,d-H method is adopted to establish the robot’s kinematics model,and MATLAB is used to verify its workspace,and the optimal connecting rod parameters are obtained.The static analysis of the robot in the climbing state is carried out to determine the minimum magnetic adsorption force and arrangement mode when the robot remains stable.The structure of the robot is designed in detail,and its key parts are checked by finite element method,which verifies the rationality of the robot structure.Based on the climbing gait of silkworm,the gait planning of the robot under different environments was proposed,and the Jacobian matrix and dynamic model of the corresponding gait were established.The simulation analysis is carried out to solve the minimum required velocity and torque of each joint,which provides a theoretical basis for the selection of motor types of each joint.In this paper,experimental verification is carried out on the transmission tower climbing robot.The experimental results show that the robot can climb to the top of a 50-meter-high transmission tower in 70 minutes with a load of 10 kg.The experiment verifies that the transmission tower climbing robot has reasonable structure,reliable gait and can successfully complete the climbing task.The research shows that the tower robot can replace the human to climb the tower,and the mechanization and intelligentization of the tower work at high altitude is highly feasible.