Leg Structure Design of Power Plant Inspection Robot Based on Closed Loop Five Link
In order to optimize power plant inspection,a power plant inspection robot was proposed.For the inspection of the complex environment of the power plant,the inspection robot should be able to complete the actions such as crossing obstacles and reducing its own height.After multi-comparison,a closed-loop five-link wheel leg mechanism with two degrees of freedom is designed in this paper as the leg mechanism of the inspection robot,and the size of each rod is given based on the overall proportion.And through SolidWorks software for foot motion curve simulation,the foot curve can meet the requirements of robot crossing.In addition,the positioning position of the wheel leg structure is analyzed,the form of the wheel leg structure is selected and the overall structure is modeled in SolidWorks software,getting the three-dimensional and two-dimensional diagram of the overall structure,and the deformation process of the wheel leg mechanism is described.
power plant inspectionwheelleg robotclosed-loop five-link mechanismSolidWorks
NETL
NSTL
万方数据
维普
