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Climbing robot based on triangle wheels obstacle crossing design: modeling simulation and motion analysis

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Abstract

Intelligent overhead distribution line work must be realized to solve the problem of line operation and maintenance. Routine manual detection has serious hidden safety issues in the distribution network of overhead transmission line maintenance and maintenance work. As such, the design of a climbing rod robot has widely adopted a fully round structure, to ensure reliability and efficiency stability. However, at the moment, pole-climbing robots face several issues, such as low efficiency, unstable obstacle crossing ability, complex control system, and low degree of intelligence, all of which have a significant impact on the design and actual use of various types of pole-climbing robots. In order to improve the obstacle climbing ability of the climbing robot and solve the problem of unmanned climbing operation, from the perspective of climbing efficiency and obstacles, this research proposes a semi-closed double-wheel climbing robot with an obstacle climbing function based on the basic structure of a wheel climbing robot. Moreover, the study discusses the overall design, motion simulation, and force analysis and describes the analysis of the climbing robot. The results of this research reveal that combining the stability and mobility of the wheeled robot with the obstacle passing ability of the triangle wheel, the obstacle passing height is increased to 0.65 times the wheel diameter by switching the obstacle passing mode; the double-layer triangular wheel obstacle crossing mechanism is adopted to provide enough climbing rod thrust and clamping stability, which increases the height of the obstacle crossing by 1.5 times.

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Acknowledgements

This work is supported by the Science and Technology Project of Anhui Electric Research Institute of State Grid Corporation of China (Grant No. 52120520005B) and the National Natural Science Foundation of China (Grant No. 51975174 and No. 51975005).

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Authors and Affiliations

  1. Student of Mechanical Engineering, Hefei University of Technology, Hefei, 230009, China

    Zheng J. Lu

  2. Fellow of Electric Power Research Institute, State Grid Anhui Electric Power Co Ltd, Hefei, 230009, China

    Shao L. Wu & Yu. Feng

  3. Student Member of Hefei University of Technology, Hefei, 230009, China

    Kai. Chen

  4. Tribology Lab, School of Mechanical Engineering, Hefei University of Technology, Hefei, 230009, China

    Wei Wang

Authors
  1. Zheng J. Lu
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  2. Shao L. Wu
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  3. Yu. Feng
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  4. Kai. Chen
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  5. Wei Wang
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Contributions

WW was contributed to conceptualization, methodology. LZ was contributed to data curation, writing—original draft preparation. Chen Kai was contributed to visualization, investigation. FY was contributed to supervision. WS was contributed to writing, reviewing and editing.

Corresponding author

Correspondence to Wei Wang.

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Technical Editor: Rogério Sales Gonçalves.

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Lu, Z.J., Wu, S.L., Feng, Y. et al. Climbing robot based on triangle wheels obstacle crossing design: modeling simulation and motion analysis. J Braz. Soc. Mech. Sci. Eng. 45, 539 (2023). https://doi.org/10.1007/s40430-023-04468-4

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  • DOI: https://doi.org/10.1007/s40430-023-04468-4

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