Structure Design and Performance Analysis of a Novel Pole-climbing Robot
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...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2017-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.08.013 |
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| _version_ | 1841547671918084096 |
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| author | Bao Xiulan Wang Lintao Huang Jiayun Gan Di Huangfu Jixuan Mao Jincheng |
| author_facet | Bao Xiulan Wang Lintao Huang Jiayun Gan Di Huangfu Jixuan Mao Jincheng |
| author_sort | Bao Xiulan |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-91f834fb8d3943fbb6a00e9eb7a07cf7 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2017-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-91f834fb8d3943fbb6a00e9eb7a07cf72025-01-10T14:21:39ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392017-01-0141626629931680Structure Design and Performance Analysis of a Novel Pole-climbing RobotBao XiulanWang LintaoHuang JiayunGan DiHuangfu JixuanMao JinchengA 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.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.08.013Pole-climbing robotGait analysisVirtual prototypeDynamics simulation |
| spellingShingle | Bao Xiulan Wang Lintao Huang Jiayun Gan Di Huangfu Jixuan Mao Jincheng Structure Design and Performance Analysis of a Novel Pole-climbing Robot Jixie chuandong Pole-climbing robot Gait analysis Virtual prototype Dynamics simulation |
| title | Structure Design and Performance Analysis of a Novel Pole-climbing Robot |
| title_full | Structure Design and Performance Analysis of a Novel Pole-climbing Robot |
| title_fullStr | Structure Design and Performance Analysis of a Novel Pole-climbing Robot |
| title_full_unstemmed | Structure Design and Performance Analysis of a Novel Pole-climbing Robot |
| title_short | Structure Design and Performance Analysis of a Novel Pole-climbing Robot |
| title_sort | structure design and performance analysis of a novel pole climbing robot |
| topic | Pole-climbing robot Gait analysis Virtual prototype Dynamics simulation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.08.013 |
| work_keys_str_mv | AT baoxiulan structuredesignandperformanceanalysisofanovelpoleclimbingrobot AT wanglintao structuredesignandperformanceanalysisofanovelpoleclimbingrobot AT huangjiayun structuredesignandperformanceanalysisofanovelpoleclimbingrobot AT gandi structuredesignandperformanceanalysisofanovelpoleclimbingrobot AT huangfujixuan structuredesignandperformanceanalysisofanovelpoleclimbingrobot AT maojincheng structuredesignandperformanceanalysisofanovelpoleclimbingrobot |