The Obstacle-surmounting Performance of a Cable-climbing Robot

摘要

In order to realize the steady climbing of the robot on the cable, this paper first analyzes the structure and climbing principle of a three-wheeled climbing robot. The mechanical model is established to analyze the relationship between the driving force and the resistance of the robot in cable climbing, and the driving torque of the robot is simulated. The simulation results show that the ability of the obstacle-surmounting is related to the clamping force. Furthermore, this paper introduces a centrifugal friction safe recovery mechanism, and analyzes speed limit principle. Finally, laboratory experiments are demonstrated that the robot could surmount obstacles with a height of 4mm and automatically recovery.