Purpose

The purpose of this paper is to describe the design and development of a novel series-parallel robot, which aims to climb on the transmission tower.

Design methodology approach

This study introduces a hybrid robot, which consists of adsorption and two 3-degree of freedom (DOF) translation parallel legs connected by a body linkage. The DOF of the legs ensures that the robot can move on the climbing plane, also contribute to a compact design of the robot. An electromagnet is used to adsorb onto the transmission tower, simplifying the overall structure. Based on the robot design, this paper further defines its climbing gait and adopt the 6th B-spline curves for climbing trajectory planning under different working environments.

Findings

The developed prototype that implements the design of the robot, which was used in simulation and experiments, showing that the robot is capable of climbing in the test environments with the planned climbing gait.

Originality value

The hybrid robot is able to climb under varying degrees of inclinations and cross the obstacles, and the magnetic attraction can ensure stable climbing.

中文翻译：

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一种新型串并联混合动力爬塔机器人

目的

本文的目的是描述一种新型串并联机器人的设计和开发，旨在爬上输电塔。

设计方法论

本研究介绍了一种混合机器人，它由吸附和两个通过身体连杆连接的 3 自由度 (DOF) 平移平行腿组成。腿的自由度确保机器人可以在爬升平面上移动，也有助于机器人的紧凑设计。采用电磁铁吸附在输电塔上，简化了整体结构。本文在机器人设计的基础上，进一步定义了其攀爬步态，并采用第 6 次 B 样条曲线进行不同工作环境下的攀爬轨迹规划。

发现

开发的实现机器人设计的原型，用于模拟和实验，表明机器人能够在测试环境中按照计划的爬坡步态进行爬坡。

原创价值

混合机器人能够在不同倾斜度下攀爬和越过障碍物，磁吸力保证攀爬稳定。