The obstacle-climbing ability analysis of the cable detection robot

Abstract

In this paper, a new crawling mechanism of cable inspection robot is introduced, and the mechanical structure is introduced in detail. In this mechanism, the statics model is establi-shed, in the case of different number of drivers, the obstacle height of the robot's driving wheel and passive wheel is analyzed. The mathematical model is given to calculate its maximal obstacle height. The parameters affecting the barrier height is proposed. The crawling experiment is conducted to test the climbing capability of the robot and the obstacle crossing height. A theoretical and experimental support is provided to analysis the climbing ability of the robot.