The obstacle crossing analysis and improvement of a wheel-based cable climbing robot

摘要

In this paper, the climbing obstacle capability of the previously designed cable climbing robot was analysed. Static equations are established to analyse the relationships between the external forces and the maximum height of the obstacles. That several parameters affected the obstacle crossing ability of the robot was concluded. According to the analysis, an innovated small volume, simple structure and light weight wheel-based cable climbing mechanism was proposed. The ameliorated robot is composed of one passive module and a powered wheel. A simplified kinematics model of the driving wheel was established. The comparison of the simulation results indicated that the climbing ability of newly-designed robot improved apparently, and it can climb over obstacles demanded by cable inspection. The analysis supplies the theoretical basis to the structural optimisation.