Innovative Design and Performance Study of Worm Type Robot for Nonuniform Pole Climbing

• Main Author: 羅仲翔
• Other Authors: 鄭璧瑩
• Format: Others
• Language: zh-TW
• Published: 2012
• Online Access: http://ndltd.ncl.edu.tw/handle/79113855543867296478

碩士 === 國立交通大學 === 機械工程學系 === 100 === This study proposes the innovative design and performance study of worm type robot for climbing nonuniform pole . The current robot provides the pole climbing function as load lifting platform.While installing with specified tool on grippers,it can assist to operate the tasks of cleaning, maintenance, disaster relief and other dangerous work at the height of working environment. The study presents a new gripper model of the pole climbing robot,several design projects were assisted by mechanical analysis and simulation software system such as SolidWorks.Some typical topics of the study are expressed as follows:(1)analyzing and comparing the climbing stability while using different design concept and parameters.(2)evaluating the climbing performance and stability while changing the loading position and various gripper modules.(3)investigating the stability of column climbing while adopting various material in the gripper and palm.The simulation results of the study are evalucted and concluded assisted by Taguchi method for generating an optimal design model of the improved new nonuniform pole climbing robot.And the simulation data demonstrates that the new design modoule is improved with the 60% increasing of stability index than that before recreated.