为了提高电力系统的自动化水平,减轻电力工人在检修高压输电系统时的劳动强度,同时保障其人身安全,提出并设计了一种可以攀爬电力铁塔的5自由度关节式机器人,给出了机器人的CAD模型,分析了其在铁塔两种位置攀爬过渡的能力.根据机器人机构特征,提出、分析和比较了蠕虫式和扭转式攀爬步态.蠕虫式攀爬步态即机器人本体的两连杆之间角度周期变化,两爪交替前进；扭转式攀爬步态即机器人本体不动,爪部回转关节旋转180°使得机器人整体扭转半周.在机械系统动力学仿真软件ADAMS环境下,对机器人采用这两种步态在铁塔主材表面、横担侧面和上表面3种方位攀爬情况进行了仿真,计算和分析了不同情况下机器人各关节转矩和系统能耗,得出最适合铁塔各种方位的攀爬步态:在横担上攀爬时应采用能耗较小的扭转式步态,但是在主材表面攀爬时两种步态能耗接近,需考虑障碍类型选取合适的步态.仿真结果为机器人的攀爬步态规划及控制策略提供了依据,同时样机试验结果也验证了两种攀爬步态的可行性.%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.
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