一种自锁式爬杆机器人的设计与分析-王才东

1004－2539201510－0060－04DOI10．16578/j．issn．1004．2539．2015．10．014450002。、。。。DesignandAnalysisofaKindofSelf－lockPole－climbingＲobotWangCaidongFanGuofengWangXinjieTangYimingCollegeofMechanicalandElectricalEngineeringZhengzhouUniversityofLightIndustryZhengzhou450002ChinaAbstractAccordingtotheproblemoftheloadingcapacityislimitedandtheaccidentalinjuryiseasyhappenedaself－lockpole－climbingrobotisdesignedbasedonself－lockprinciple．Thestructureschemeandworkingprincipleoftherobotareintroduced．Theself－lockingconditionsandmotionstabilityareana-lyzed．Thecarryingcapacityofrobotiscalculated．Thecontrolmethodfortherobotclimbingonvariablediame-terpoleisanalyzed．Theresultsshowthattherobotcanclimbvariablediameterpolestablywhichmeetstherequirementsfortelegraphpoleaerialwork．KeywordsPole－climbingrobotSelf－lockconditionVariablediametercylindricalpole0。、1。、。。、、、2。。Tavakoli3。J．F．Allan4。MahmoudT5。6。。。。。。。7。。。11．10620158。1、。“U”Ⅰ、Ⅰ、ⅠⅠⅠ“U”ⅠⅠⅠ。“U”Ⅱ、、“U”、Ⅱ、Ⅱ、Ⅱ。“U”“U”ⅡⅡ“U”ⅡⅡ。“U”Ⅰ“U”Ⅱ“U”Ⅱ“U”Ⅰ。、、、。33。。。1“U”Ⅰ2Ⅰ34“U”5“U”Ⅱ678910Ⅰ111213141516Ⅰ11．22。。。。。。。“U”“U”Ⅱ。。“U”。2。。2。。2．1。3。3A163910FL1cosθ=F1L2sinθ11F1=FL1cosθL2sinθ=FL1L2cotθ2F1μ≥λF323FL1L2μcotθ≥sFL1μcosθ≥λL2sinθ4FF1、F2L1OAL2BAμθλλ=1．3～1．5。2．2。。3“U”Ⅰ“U”Ⅱ。“U”SF1″。σ=F1″SF1″F1。F1″=F1cosθ=FL1L2cotθcosθσ≤σS5σS。σ5FL1L2cotθcosθ≤σSSF≤σSSL2L1cotθcosθ66。2．3L1+L2=K7cosθ=dL2－2r8Kdrr=5mm。GB/T4623－200697000mm275mm150mm。1500mm1500mm3000mmdmax203mmdmin150mm。θ4αα=L1μcosθλL2sinθ910μ=0．45λ=1．3。Matlabα4。44θθ15°。8L2L2max=dmaxcosθ+2r=220mm4L1L1min≥λμL2maxtanθ=170．30mmL2max=220mmL1min=170mm7K=390mm。4f1df2df1d=L1μcosθ=K－dcosθ+2()[]rμcosθ262015f2d=λL2sinθ=λdcosθ+2()rsinθf1d≥f2d。Matlabf1d、f2d5。55150200。6θL2L1F。“U”Q275σs=275MPa“U”S=100mm2。L2min=dmincosθ+2r=165mmL1max=K－L2min=225mm6F≤σSSL2minL1maxcotθcosθ=5594．26N570．82kg。3“U”θ。F1″d。F1″L2θ。5、78F1″=FL1L2cotθcosθ=3．6F309d－110F=5000N。10F1″d。dL2。F1″L2L2maxΔL2。ΔL2“U”θ。5。4。。。1．D．20122－6．2．D．20113－9．3TavakoliMMarjoviAMarquesLetal．3DCLIMBEＲAclimbingrobotforinspectionof3DhumanmadestructuresC//IntelligentＲobotsandSystems2008．IＲOS2008．IEEE/ＲSJInternationalConferenceon．IEEE20084130－4135．4AllanJFLavoieSＲeiherSetal．Climbingandpolelinehard-wareinstallationrobotforconstructionofdistributionlinesC．Ap-pliedＲoboticsforthePowerIndustryCAＲPI2010．1stInterna-tionalConferenceon．IEEE20101－5．5MahmoudTavakoliGonloCabritaetal．Cooperativemulti－agentmappingofthree－dimensionalstructuresforpipelineinspectionap-plicationsJ．TheInternationalJournalofＲoboticsＲesearch2012311214891503．6．J．2011958－61．7．D．200917．8．J．2003158－61．9GB/T4623－2006．S．2006．10．M．200022．2015－01－122015－03－242012IＲTSTHN0131983—。363910