一种爬塔机器人的设计、仿真与控制

摘要

Recently ,in the area of wind power ,the task of cleaning ,testing and maintaining of tower and blades regularly mainly depends on artificial high‐altitude operations ,which has high risk .To solve this problem ,a three‐platform robot was put forward ,in which two platforms combined time belt and chain to hold pantograph mechanism and the other one combined trolley and strip to hold pantograph mechanism tightly .T he simulation and analysis of main mechanism was conducted by multibody system dynamics simulation software RecurDyn ,and the result was in line with the movement requirements .Finally ,both hardware and software circuit design were introduced .The rotatory mechanism ,lifting mechanism and scaling mechanism were controlled by TM320CF2812 DSP ,which met safety requirements .By designing ,simulating and controlling the robot ,the existing shortcomings of Ring robot in British South Bank University were solved , with some innovation and superiority .%目前风力发电领域中对风轮机塔筒以及叶片的定期清洗、检测与维护任务主要依靠人工的高空作业，存在高风险。为解决这一问题，提出了一种包含3层平台（采用同步带和链条组合方式对缩放机构抱紧的两层升降平台和采用小车与弹簧钢带组合方式对缩放机构抱紧的一层旋转平台）的爬塔机器人。用多体系统动力学仿真软件RecurDyn对该爬塔机器人的主要机构进行了仿真分析，结果符合爬升、旋转以及收缩的运动要求。最后，进行了该爬塔机器人系统软、硬件的电路设计，利用T M 320C F2812实现了对该爬塔机器人爬升运动机构、旋转运动机构以及缩放运动机构的控制，结果符合安全性的要求。通过设计、仿真以及控制该爬塔机器人，解决了英国南岸大学Ring机器人现有的缺陷，具有一定的创新性和优越性。