摘要
In this paper, the climbing obstacle capability of the previous special cable inspection robot （ Model Number： XS1T-1） is analyzed. Static equations are established to analyze the relationships between the external forces and the maximum height of an obstacle. Parameters affecting the obstacle crossing ability are obtained. According to the analysis results, an innovated small volume, simple structure and light weight climbing mechanism is proposed （Model Number： XS1T-2）. A simplified kinematics model of the mechanism is established. With two powered wheels, the obstacle crossing ability of the XSIT-2 is improved apparently. For the robot moving without deflection, the relationships of two powered input torques are deduced. The comparison of the simulation results clearly shows that the climbing ability of XS1T-2 is obviously improved, and it can meet the demands of inspection.
基金
Supported by the National High Technology Research and Development Programene of China （No. 2006AA04Z234） and China Postdoctoral Science Foundation （No. 2.009（061051 ）.
