Study on the Stability and Adaptability of Rigid-flexible Coupling Metamorphic Claw
In response to the current problems of insufficient stability and adaptability of gripping pipe climbing robots,based on the principles of underactuationand metamorphic mechanism,a rigid-flexible coupling metamorphic claw is designed.The structural design and working principle analysis of the metamorphic claw are carried out.Based on the contact theory of elastic mechanics and the principles of tribology,a method for determining the stability of the metamorphic claw is proposed.The calculation method of static friction based on rigid-flexible coupling iterative analysis is proposed.By comparing the static friction force ofthe metamorphic claw under rigid and rigid-flexible coupling states,the rigid flexible coupling structure is found to have higher clamping stability.The clamping simulation of various pipelines is conducted using Adams,and good adaptability of the clawis verified.
rigid-flexible couplingmetamorphic clawcoupling iterationsstabilizationstatic friction force
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