Abstract
A new type of high voltage transmission tower climbing tower robot is designed. Firstly, the structure of the transmission tower is analyzed to determine that the robot manipulator is a five-degree-of-freedom structure. Secondly, a manipulator capable of automatically positioning and tightening the angle steel surface was designed according to the L-shaped angle steel of the tower. The manipulator adopts electromagnetic absorption and grasping and tightening the angle steel. Thirdly, the theoretical calculation of climbing steps is carried out to determine the maximum step of the torsional climbing gait. Then STM32 SCM is used as a carrier to carry out various functional modules to achieve effective control of the robot’s rotation, movement and positioning. Finally, the finite element simulation of the robot model was performed to analyze the deformation and stress of each component during the climbing process, and the rationality of the structure was verified. In addition, the experiment of tower climbing was carried out with the experiment iron tower in the outdoor. The results show that the robot manipulator is tightened and reliable, the weight bearing is large, the degree of freedom is not redundant, the climbing speed is fast, and the movement of obstacle crossing can be realized smoothly.
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