Design and experimental research of a new type of power transmission tower climbing robot

摘要

There are a series of problems in the maintenance of transmission towers. In this paper, based on the existing structure, a climbing robot that can be applied to the transmission tower is designed, and the reliability of the grasp is analyzed. Key parts are optimized with Ansys analysis software and planning for climbing gait is completed with Adams simulation software; Robot control system is designed based on hierarchical and decentralized control architecture and the paw position adjustment decisions are optimized, and the fuzzy control algorithm is used to realize the gait adjustment of the robot The experiment result shows, the robot can complete the task of climbing and crossing the obstacle of the steel surface of the tower angle.