Performance Analysis and Structural Optimization of a Multi-purpose Inspection Robot

In response to the problem of the single application environment of existing inspection robots, a multi-purpose inspection robot is proposed, which is capable of adapting to complex environments and realizing ground-pole state transitions while realizing basic walking functions. The specific structure of the robot is introduced, and the structural characteristics of the posture-adjusting mechanism that realizes the conversion function are analyzed, its kinematic model is established and the Jacobi matrix of the mechanism is derived. The constraints are determined, and the kinematic inverse solution is used to analyze the reachable workspace and corner workspace of the parallel mechanism based on the numerical search method. The inverse of the Jacobi matrix condition number is used to establish the dexterity performance index, and a dexterity analysis is carried out to produce a contour map of the dexterity distribution of the mechanism. After the constraints are satisfied, the structural optimization problem is transformed into a problem of solving for the maximum value of the dexterity, and the objective function is established. The improvement of robot kinematic performance was verified by comparing before and after optimization.