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一种110 kV输电线路巡检机器人机构研究
Alternative TitleDesign approach for a 110 kV power transmission line inspection robot mechanism
岳湘; 王洪光; 姜勇; 张珏; 张成巍; 席宁
Department空间自动化技术研究室
Source Publication智能系统学报
ISSN1673-4785
2016
Volume11Issue:2Pages:155-162
Indexed ByCSCD
CSCD IDCSCD:5678333
Contribution Rank1
Funding Organization国家自然科学基金项目(61179049)
Keyword输电线路 巡检 机器人 机构设计 运动学 作业空间 越障 仿真
Abstract针对110 kV输电线路环境特点及巡检任务需求,提出了一种新型巡检机器人机构,介绍了机器人的机构构型和两种典型障碍物的越障流程,推导了机器人的运动学方程,给出了机器人机构的主要尺寸,分析了典型越障模式下机器人手臂的工作空间。规划了机器人跨越引流线的运动序列并进行了越障仿真与模拟环境的试验,仿真试验结果表明该机构能够跨越引流线、耐张线夹等复杂障碍物,验证了机构设计的合理性,运动规划的可行性,该机构具有结构紧凑、越障能力强、运动平稳等特点。
Other AbstractA novel mechanism for 110 kV power transmission line inspection robot is presented according to the requirements of inspection tasks and characteristics of obstacles on power lines. Its configuration is introduced,and the navigation process of typical obstacles is planned. Then, the kinematics equations and the workspace are established. Furthermore, the simulation of the navigation of the strain clamp and test of navigation the jumper in the laboratory have been carried out. The simulation results demonstrate that the mechanism has such characteristics as compact construction, good motion stability and excellent obstacle negotiation capability.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/19256
Collection空间自动化技术研究室
Corresponding Author岳湘
Affiliation1.中国科学院沈阳自动化研究所
2.中国科学院大学
3.广州供电局有限公司
Recommended Citation
GB/T 7714
岳湘,王洪光,姜勇,等. 一种110 kV输电线路巡检机器人机构研究[J]. 智能系统学报,2016,11(2):155-162.
APA 岳湘,王洪光,姜勇,张珏,张成巍,&席宁.(2016).一种110 kV输电线路巡检机器人机构研究.智能系统学报,11(2),155-162.
MLA 岳湘,et al."一种110 kV输电线路巡检机器人机构研究".智能系统学报 11.2(2016):155-162.
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