Single-motor Under-driven Adaptive Thorn Climbing Robot Climbing Mechanism And Experimental Research

In recent years,robots in various fields have developed rapidly.As a direction and an important branch of the robotics field,climbing robots have become a new and important research hotspot.How to achieve high climbing efficiency,low energy consumption and wide application of various scenarios is still a difficulty and challenge in the climbing field.The existing pole-climbing robot is mainly composed of two parts,a crawling part and a holding part,and each executive member is driven by at least one motor.This makes the complex system of the pole-climbing robot driven by multiple motors.To achieve its design function,the existing climbing robots usually have complex mechanical structures and corresponding control systems.It has the shortcomings of cumbersome and poor self-adaptability,which greatly increases design costs and labor.Aiming at the shortcomings of existing pole-climbing robots themselves,this paper proposes an under-driven,single-motor,rope-driven adaptive climbing robot,which can maintain climbing and adaptive clamping and holding functions and only Driven by a motor.Among them,the robot designed in this paper uses a symmetrically arranged electromagnetic clutch to shunt the input torque of the motor,and then achieves the effect of using only one motor to drive.Among them,the under-actuated self-adaptive holding structure driven by the wire rope and the overrunning function of the spring clutch itself can realize the self-adaptive performance of holding in a stable state,and the drive mechanism is composed of a reversible drive mechanism.Since the proposed configuration only uses one motor for driving,no responsible control system and mechanical structure are needed.In order to verify the feasibility of the configuration,the research of this article will start from the following contents:(1)Research on new climbing configuration.By investigating research results at home and abroad,analyzing the advantages and disadvantages of various mechanism principles,a singlemotor under-driven adaptive pole-climbing robot configuration is proposed,which realizes single-motor drive.It has the advantages of less control,low energy consumption and light weight.(2)Climbing robot kinematics,dynamics analysis and climbing transition analysis.In order to better evaluate the kinematic performance of the designed single-motor under-driven adaptive climbing robot,analyze its required force,end velocity and acceleration,establish a spatial coordinate system and use Lagrangian function to establish a dynamic model for two Climbing transitional gait provides a theoretical basis.(3)The design of the steel wire flexible shaft and the check of its strength and rigidity.The introduction of the steel wire flexible shaft is an important part of the realization of single-motor drive.The analysis of the flexible shaft is essential.The design of the flexible shaft has verified that its drive performance meets the power transmission requirements,and its drive system has been analyzed and researched.(4)Analysis of under-actuated holding mechanism and robot climbing performance.Firstly,the static model and geometric vector equation of the underactuated holding mechanism are constructed,and the analysis of the adaptive holding mechanism and the solution of the holding range are carried out.Then the inherent constants are evaluated to study the stability during climbing.(5)Contact analysis between ratchet spines and rod climbing.By simplifying the surface microscopic shape of the climbing object into three contact shapes,and establishing static mathematical models for quantitative analysis and dynamic calculation,the best installation angle of the spines on the ratchet is sought,and reliable data and theory are provided for stable and reliable climbing.(6)Research on climbing simulation experiment.It provides an experimental platform by processing the prototype.The under-actuated adaptive holding,climbing transition and physical climbing functions are performed in turn to verify the feasibility of the proposed design.