Design and kinematics simulation of tower climbing robot

Abstract To solve the task of auxiliary maintenance of the electric power overhead tower, this team designed a 6-DOF inchworm bionic robot and completed the overall structural design of the robot. Then ADAMS was used to carry out the kinematic analysis of the inchworm robot in the two working conditions of linear climbing and crossing the tower node. The results showed that the motion design of the robot was reasonable, and the feasibility of the structural design was further verified, which provided a reference for the motion control of the robot. Finally, the team made a test prototype and completed the posture and working conditions of the robot such as shrinking, stretching, incline climbing, and upside-down climbing. The experimental results show that the bionic robot has stable performance, which further verifies the correctness of the structural design and the feasibility of the motion mode of the Inchworm robot.