Analysis on the principle and performance Index of Tower climbing Robot

摘要

Abstract In this paper, aiming at the special application environment of wind power tower, this paper compares the existing domestic and international wall-climbing robot products, studies its structural characteristics, adsorption principle, etc., and then uses the knowledge of kinematics and dynamics to analyze its vertical climbing and steering motion. The performance requirements and structural design goals of the wind turbine tower climbing robot are proposed. Analyze and compare different combinations of solutions, and finally determine the use of the track magnetic adsorption design. The theoretical analysis of the vertical climbing and in-situ steering mechanics of the design scheme shows that the track length design of the crawler climbing robot should not be too long, and it will generate large resistance when steering, which is not conducive to steering. At the same time, the stability of the climbing robot climbing on the tower is theoretically calculated, and the number of required adsorption units is obtained.