Gait Analysis for Electricity Pylon Climbing Robot

摘要

A 5-DOF articulated robot capable of climbing electricity pylons,is proposed to improve the automation capabilities of power system,reduce the labor intensity of workers and guarantee their safety in the maintenance of high-voltage transmission system.The CAD model for this robot is established,and the feasibility transiting between two positions in any orientations is verified.The worm gait and turning gait are analyzed and compared.In the worm gait the angle of the two linkages changes cyclically and two claws go forward alternately,and the body keeps still while the rotary joint rotates 180° to reverse the robot by semicycle in turning gait.The joint torque and energy consumption of the robot when it climbs in various orientations including the main surface,side and upper surface of cross bar are calculated and analysed in the simulation with the software ADAMS(Automatic Dynamic Analysis of Mechanical Systems) to get the most suitable climbing gait in various orientations of the pylons.The robot climbs on the cross bar in turning gait with the less energy consumption,while climbs on the main surface with the equal energy consumption,an appropriate gait can be chosen according to the obstacle.The simulation is significant for gait planning and control strategy,and the prototype test confirms the feasibility of both climbing gaits.