Design And Research Of Climbing Robot Of Space Elevator

The space elevator is a transportation system concept that connects the ground and the low-Earth orbit.It is designed to send the space load directly into the space or orbit from the surface of the earth along the sky-zone cable by the climbing robot without using a launch vehicle.Fundamentally solve the problems of high launch cost,limited launch cycle,and frequency of launch vehicles.Climbing robots are the core part of the space ladder,facing technical challenges such as high load-to-weight ratio,high moving speed,and high reliability.To this end,this paper proposes a small-scale high-speed,large loadto-weight ratio climbing robot mechanism with a cable that can actively adjust the clamping force,and a climbing mechanism,an adsorption mechanism for a climbing robot,Researches on key issues such as kinematics and dynamics have been conducted.The main research contents are:1)The structural design of the ladder climbing robot and the selection of components.From the aspects of climbing mode,driving mode,transmission mode,and adsorption mode,the existing climbing robot schemes and climbing environment were compared and established,and the research goals and technical indicators were established.On this basis,a cable-oriented The structural scheme of the wheeled ladder-climbing robot,and the design selection and strength check of each core component were established,and the objects and basis of theoretical analysis and experimental verification were established.2)Kinematics and dynamics analysis and simulation of the ladder climbing robot.According to the actual operating environment of the robot,the kinematics analysis of the ladder climbing robot is carried out,and the kinematic relationship of the climbing robot in different states and the speed equation at any point on the driving rubber wheel are obtained;the whole machine and climbing of the climbing robot are analyzed Based on the resonance characteristics between the climbing belts,the dynamic analysis of the driving rubber wheel of the climbing robot was carried out,and the optimal driving rubber wheel slip rate and adhesion coefficient were solved,which laid a theoretical foundation for the robot motion control and prototype development.3)Experimental research on the prototype of the ladder climbing robot principle.Based on the climbing robot structure scheme and the results of kinematics and dynamics analysis,the prototype of the climbing robot and the test platform were trial-produced,the climbing robot control system was designed,and the joint debugging of the climbing robot and the experimental platform was completed,and different angles Climbing,load capacity verification,maximum speed verification,power matching and other series of experiments),verified the feasibility and effectiveness of the climbing robot structure design and theoretical analysis results,provided for the research of space ladders and the design of related climbing robots Theoretical and technical references.