Mechanism Design and Statics Analysis of Walking Module of Orbital Machine Room Inspection Robot

摘要

In order to realize the intelligent inspection of the machine room, a new type of orbital inspection robot walking mechanism and track structure is designed. The walking module can walk on slopes and curves smoothly and reliably, and realize rapid disassembly at any position of the track. Compared with the horizontal motion, the climbing process obviously needs more power, and the force condition during the turning process is more complicated. Therefore, statics analysis of the inspection robot in climbing and turning stages is performed, and the driving force required by the robot and the supporting force of each guide wheel are solved. The analysis results provide theoretical support for the selection of driving motor, statics analysis and parameter optimization of track structure. The offset of the center of mass affects the force condition of the robot. Therefore, the influence of the position of the center of mass of the robot on each force is studied, and the optimal position range of the center of mass is obtained. The research provides theoretical basis for the overall structure layout and optimization of the robot.