Design and control of a climbing robot for inspection of high mast lighting
Design and control of a climbing robot for inspection of high mast lighting
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DOI：
10.1108/aa-01-2018-006
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发表时间：
2019-02
影响因子：
2.1
通讯作者：
Peng Li;X. Duan;Guangli Sun;Xiang Li;Yang Zhou;Yunhui Liu
中科院分区：
文献类型：
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作者：
Peng Li;X. Duan;Guangli Sun;Xiang Li;Yang Zhou;Yunhui Liu
研究目的：研制一种可帮助人们对高杆照明灯具进行检测的爬壁机器人。设计/方法/途径该机器人由驱动机构，悬挂机构和压缩机构。驱动机构由相对设置的链节和链轮实现，形成双履带机构。压缩机构挤压履带，橡胶脚“抓住”钢丝绳，产生足够的附着力。悬挂机构用于补偿链条的收缩或伸展。该机器人配备了额定功率为250 W的直流电机和无线模块，可与操作员控制台进行通信。推导了机器人的动力学模型和控制策略，并证明了控制器的稳定性。结果-有效载荷实验表明，机器人可以负担高达3.7倍的有效载荷与其自身的重量。即使有效载荷为30 kg，机器人也可以保持1 m/s的速度。实验表明，机器人的跟踪误差为零。实用意义-建议的移动机构具有高的负载/重量比，这是一个经过验证的解决方案的电缆检查的目的。独创性/价值-爬绳机器人高桅杆照明检查。所开发的机构可以在30 kg的有效载荷下达到1 m/s的速度，而其自身重量仅为15.6 kg。机器人的有效载荷/重量比为2.24;这个值在其他知名杂志报道的许多攀爬机器人中相当不错。
Purpose This paper aims to develop a climbing robot to help people inspect lamps of high-mast lighting. Design/methodology/approach The robot consists of driving mechanism, suspension mechanism and compression mechanism. The driving mechanism is realized by link chains and sprockets, which are arranged opposite to each other, to form a dual caterpillar mechanism. The compression mechanism squeezes the caterpillar, and rubber feet “grasps” the steel rope to generate enough adhesion forces. The suspension mechanism is used to compensate the contraction or extension of the chains. The robot is equipped with a DC motor with a rated power of 250 W and a wireless module to communicate with the operator’s console. The dynamic model of the robot and the control strategy is derived, and the stability of the controller is proofed. Findings The payload experiment shows the robot can afford up to 3.7 times payload versus its own weight. Even when the payload is 30 kg, the robot can maintain a speed of the 1 m/s. The experiments also show that the tracking error of the robot reaches zero. Practical implications The proposed moving mechanism has a high load/weight ratio, which is a verified solution for the cable inspection purpose. Originality/value A rope climbing robot for high mast lighting inspection is proposed. The developed mechanism can reach a speed of 1 m/s with the payload of 30 kg, while its own weight is only 15.6 kg. The payload/weight ratio of the robot is 2.24; this value is rather good in many climbing robots reported in other renowned journal.