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Alternative TitleMechanism design for a novel suspension insulator detection robot
何磊; 王洪光; 刘爱华; 王林
Source Publication智能系统学报
Indexed ByCSCD
Contribution Rank1
Funding Organization国家自然科学基金资助项目(51405482), 国家电网公司科技项目(N201204F⁃DDZX⁃06)
Keyword悬垂绝缘子 检测机器人 机构设计 并联机构 运动学 仿真
Other AbstractIn order to improve the stability of motion, environmental suitability and load capacity, and to meet the demands of suspension insulator detection task, this paper presents a novel suspension insulator detection robot mechanism based on biomimetic principles. The configuration of the robot's mechanism is introduced and the working principle and the moving and inspection procedures are analyzed. Equations of kinematics are derived and main dimensions of the robot are given. The kinematic simulation is carried out in the case that the axes of adjacent insulators are misaligned. Simulation results show that the mechanism can adapt to the small⁃angle bending of suspension insulator strings, and it has such advantages as excellent motion stability, environment adaptability and high load capacity. The robot can be applied to the suspension insulator detection task in power transmission lines.
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Document Type期刊论文
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GB/T 7714
何磊,王洪光,刘爱华,等. 一种新型悬垂绝缘子检测机器人机构设计[J]. 智能系统学报,2015,10(4):377-383.
APA 何磊,王洪光,刘爱华,&王林.(2015).一种新型悬垂绝缘子检测机器人机构设计.智能系统学报,10(4),377-383.
MLA 何磊,et al."一种新型悬垂绝缘子检测机器人机构设计".智能系统学报 10.4(2015):377-383.
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