摘要：Theoretical analysis and experimental research are carried out on the load capacity of one new kind rope-climbing robot, this robot could lift load along the rope depends on the friction between rope and wheel of the robot. The classic Euler formula is based on the assumption of constant friction coefficient, and this paper establishes a new load capacity model based on non-constant friction coefficient model, presents a method to measure the distribution of friction coefficient, and builds the experimental platform to conduct experimental research on the friction coefficient and load capacity. Experimental results show that the friction coefficient decreases with the increase of wrap angle; the new model fits the results better than Euler formula.
