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基于输电线路行走越障任务的巡检机器人机构设计
Alternative TitleThe Inspection Robot Mechanism Design Based on the Transmission Line Obstacle-Navigation Task
凌烈; 王洪光; 李树军; 姜勇; 宋屹峰
Department空间自动化技术研究室
Source Publication机械设计与制造
ISSN1001-3997
2012
Issue10Pages:84-86
Contribution Rank1
Funding Organization国家高技术研究发展计划资助项目(863计划,2006AA04Z203)
Keyword巡检机器人 变距越障机构 恒力矩夹持机构
Abstract针对超高压输电线路巡检机器人在线路巡检中行走越障的任务需求,在分析超高压线路障碍类型的前提下,提出了一种新型的适用于线路障碍类型多且角度大的巡检机器人行走及越障机构。介绍了变距越障机构和恒力矩夹持机构的构型及结构特点,根据输电线路障碍物尺寸变化的情况,分析了双臂变距越障机构对障碍物长度尺寸变化的适应性,在分析了机器人爬坡能力的基础上设计的恒力矩夹持机构,提高了机器人的爬坡性能。最后,通过现场实验验证了该行走及越障机构设计的可行性和有效性。
Other AbstractTo meet the need of obstacle-crossing for extra-high voltage(EHV)power transmission line(PTL)inspection robot,basing on the analysis of obstacles in EHV line,a novel inspection robot,which is able to cross various obstacle and climb high inclined line,is presented here.Firstly it introduces two mechanisms of the robot,varied displacement obstacle-crossing mechanism and constant torque gripper mechanism.In addition,as the obstacles installed on the line are in different dimensional scale,adaptability of vari...
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/10298
Collection空间自动化技术研究室
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.东北大学机械工程与自动化学院
Recommended Citation
GB/T 7714
凌烈,王洪光,李树军,等. 基于输电线路行走越障任务的巡检机器人机构设计[J]. 机械设计与制造,2012(10):84-86.
APA 凌烈,王洪光,李树军,姜勇,&宋屹峰.(2012).基于输电线路行走越障任务的巡检机器人机构设计.机械设计与制造(10),84-86.
MLA 凌烈,et al."基于输电线路行走越障任务的巡检机器人机构设计".机械设计与制造 .10(2012):84-86.
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