Dynamic simulation analysis and experimental verification of transmission tower climbing robot

Abstract

In order to replace the climbing work of the first climbers of the transmission tower without safety ropes, a transmission tower climbing robot is designed in this paper. First of all, this paper designs the structure of the robot by imitating the silkworm crawling on the branches through the principle of bionics. On this basis, through the inverse kinetics solution method, under the premise of planning the gait of the robot first, the dynamic simulation analysis of the robot is carried out according to the gait, so as to obtain the torque required for each joint motion. At the same time, according to the simulation results, the experimental test of the robot is carried out. Experiments have shown that the robot can climb to the top of a 50 m high transmission tower in 70 min with a load of 10 kg. The research results show that the transmission tower robot can replace the manual climbing operation of the transmission tower, and the mechanization and intelligence of the high-altitude operation of the transmission tower is highly feasible.