State algorithm and double optimization design of safety cable retractor for gecko climbing robot

摘要

Abstract Gecko climbing robot cable is the core part of the robot system, which plays an important role in the basic life support of the operator. Based on the analysis of the function and performance requirements of the safety cable in the climbing process, the modular design scheme of the retractor is proposed according to the system engineering principle and optimization method, and the system is divided into retractor module, guidance and control module and mechanical structure module. Based on the analysis of the characteristics of the operator’s safety state during the climbing operation, the operator’s safety state set, the operator’s safety state set and the operator’s safety state set are formed. The whole process/full state algorithm is proposed. In the structural design, the basic functions of the retractor are divided into retractor module, guidance and control module and mechanical structure module. Considering the limited space and bearing capacity of the robot vehicle, on the premise of ensuring the safety and reliability, the lightweight optimization design is carried out to realize the function module and the double-pawl-bidirectional backstop-double-optimization retraction and release system with the most concise connection of each function module.