Based on the experimental platform of the parallel-legged tower-climbing robot, this paper carries out the kinematics and forward solutions of the leg structure of the robot, evaluates its working space, and based on the characteristics of its plantar working space and working environment. After planning, an ideal foot-end trajectory curve is obtained, and the interpolation and fitting of the trajectory are performed by using the Bezier curve.
Aiming at the semi-structured three-dimensional truss structure of power tower, this paper designs a real-time path planning method based on prior knowledge. The method establishes an obstacle parametric model according to the characteristics of the
semi-structured environment. In the process of motion, only a small number of feature points need to be extracted to achieve comparison with the parametric model to
determine the type of obstacle, thereby saving the system to establish the whole in real time. The time of the environmental model greatly improves the efficiency of real-time planning. At the end of the paper, the control system is simulated by Adams-Matlab.
The footprint and planning algorithm obtained by the planning are verified. The verification results are in good agreement with the design results, and the errors are analyzed and processed.
Key words: climbing robot; parallel mechanism; trajectory planning; motion