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Design and Simulation of Metamorphic Moving Mechanism of Insulator Inspection Robot
Li SJ(李树军); Yang Q(杨强); Geng M(耿蒙); Wang HG(王洪光)
作者部门空间自动化技术研究室
会议名称Third ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2015)
会议日期July 20-22, 2015
会议地点Beijing, China
会议录名称Advances in Reconfigurable Mechanisms and Robots II
出版者Springer Verlag
出版地Berlin
2015
页码747-756
收录类别EI
EI收录号20161202136373
产权排序2
ISSN号2211-0984
ISBN号978-3-319-23326-0
关键词Inspection Robot Insulator Structural Design Moving Mechanism Kinematic Analysis
摘要A novel metamorphic mechanism was proposed as the moving mechanism of insulator inspection robot. According to inspection operational requirements and mobile program of existing inspection robot, a metamorphic mechanism composed by the parallelogram mechanism with changeable frame and the cam mechanism was designed. Mobile program and configurations transforming were determined, and kinematics analysis were completed. Practical moving process on insulator string of the mechanism is simulated with a virtual prototyping software package Adams, kinematics performance are calculated by simulation. The simulation results verify that the proposed metamorphic mechanism can achieve the climbing process on hanging string, level string and V-string with a tilt angle. The translational motion of claw can protect the surface coating of the insulators, and compensate the manufacture and installation errors of insulator string.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17674
专题空间自动化技术研究室
作者单位1.College of Mechanical Engineering and Automation, Northeastern University, Shenyang, China
2.State Key Laboratory of Robotics, Shenyang, China
推荐引用方式
GB/T 7714
Li SJ,Yang Q,Geng M,et al. Design and Simulation of Metamorphic Moving Mechanism of Insulator Inspection Robot[C]. Berlin:Springer Verlag,2015:747-756.
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