SIA OpenIR  > 空间自动化技术研究室
一种新型悬垂绝缘子检测机器人机构设计
Alternative TitleMechanism design for a novel suspension insulator detection robot
何磊; 王洪光; 刘爱华; 王林
Department空间自动化技术研究室
Source Publication智能系统学报
ISSN1673-4785
2015
Volume10Issue:4Pages:377-383
Indexed ByCSCD
CSCD IDCSCD:5487220
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
Abstract为了提高悬垂绝缘子检测机器人的运动稳定性、环境适应性和负载能力,针对绝缘子检测任务需求,基于仿生原理,提出了一种新型的悬垂绝缘子检测机器人机构。介绍了机器人的机构构型,分析了机器人的工作原理及行走与检测过程,推导了机器人的运动学方程,给出了机器人的主要尺寸,对相邻绝缘子轴线不重合的情况进行了运动仿真。仿真结果表明,该机构对小角度弯曲的悬垂绝缘子串具有适应性,具有运动平稳、适应性好、负载能力强等优点,适用于输电线路悬垂绝缘子检测。
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.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/16837
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
2.中国科学院大学
Recommended Citation
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.
Files in This Item: Download All
File Name/Size DocType Version Access License
一种新型悬垂绝缘子检测机器人机构设计.p(894KB)期刊论文出版稿开放获取ODC PDDLView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[何磊]'s Articles
[王洪光]'s Articles
[刘爱华]'s Articles
Baidu academic
Similar articles in Baidu academic
[何磊]'s Articles
[王洪光]'s Articles
[刘爱华]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[何磊]'s Articles
[王洪光]'s Articles
[刘爱华]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 一种新型悬垂绝缘子检测机器人机构设计.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.