The rope-climbing robot that can cling to a rope for locomotion has been a popular equipment for some inspection applications due to its high flexibility. In this study, a modular rope-climbing robot with the finger-wheeled mechanism is proposed. Due to the ingenious finger-wheeled mechanism and the modular structure, the robot can achieve smooth and quick movement and good capability of obstacle-crossing on the rope and has a high adaptability for different rope environments. On the basis of introducing the robot mechanism, the geometric definitions and descriptions that can present the robot configuration and position relative to the rope are established. Aiming at three typical states during obstacle-crossing, the geometric and force analysis is performed to establish the constraint equations for the robot, and then the simulation is carried out with the optimization calculating method to solve the geometric variables and external forces of the robot that can be used for the robot design work. Finally, the robot prototype is developed based on the design and analysis work, and the experiment is conducted to verify the performance of the robot.

可以紧紧抓住绳索进行运动的爬绳机器人由于具有很高的灵活性而成为一些检查应用中的流行设备。在这项研究中，提出了一种具有指轮机构的模块化爬绳机器人。由于采用了独创的指轮机构和模块化结构，该机器人可以实现平稳，快速的移动以及在绳索上越过障碍物的能力，并且对不同的绳索环境具有很高的适应性。在介绍机器人机构的基础上，建立了可以表示机器人配置和相对于绳索位置的几何定义和描述。针对障碍物穿越过程中的三种典型状态，进行了几何和力分析，以建立机器人的约束方程，然后用优化计算方法进行仿真，以解决可用于机器人设计工作的机器人的几何变量和外力。最后，根据设计和分析工作开发了机器人原型，并进行了实验以验证机器人的性能。