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面向断股补修作业任务的电力机器人机构设计
Alternative TitleBroken Strand Repair Task Oriented Mechanism Design of a Power Transmission Line Maintenance Robot
宋屹峰; 王洪光; 王慧刚; 凌烈; 姜勇
Department空间自动化技术研究室
Source Publication智能系统学报
ISSN1673-4785
2017
Volume12Issue:2Pages:150-157
Indexed ByCSCD
CSCD IDCSCD:5975408
Contribution Rank1
Keyword机器人应用 机构设计 机器人开发 机器人系统 输电线维护 输电线路 维护 电网 机器人控制
Abstract输电线路断股补修机器人需要在特定野外环境下开展复杂作业任务。面向机器人补修作业任务特征开展机构设计,可以提升机器人作业性能,保证作业质量。本文介绍了基于断股补修作业任务设计的应用于机器人的各类机构。根据行走、越障与捋线的作业目标,结合外部环境约束,进行机器人移动机构、越障机构与补修机构的设计。以增大附着力、削弱强制滑转现象为目标设计了优化阔线的驱动轮作为移动机构;以保证越障安全性为目标,设计了被动回转关节作为越障机构;以消除悬垂线路断股为目标,设计了螺旋复位式捋线机构作为补修机构。通过理论分析、对比仿真与实际实验,分析了所设计机构在行走、越障与补修作业上的可行性、稳定性与合理性。
Other AbstractThe power transmission line maintenance robot for broken strand repair is required to complete complex maintenance tasks in the field. The mechanism design based on the features of maintenance tasks can enhance the maintenance performance and insure the maintenance quality. This paper presented broken strand repair task oriented mechanisms for the power line maintenance robots. Based on the objectives of broken strand repair tasks and the environment constraints, the locomotion mechanism, obstacle-crossing mechanism and broken strand repair mechanism were designed. The optimized driving wheel was designed as the locomotion mechanism to increase the adhesive force and decrease the constrained friction; passive joints were designed as the obstacle-crossing mechanism to insure the safety during the crossing; broken strand resetting tool was designed as the broken strand repair mechanism to remove the reclinate broken strand. The effectiveness, stability and correctness of robot design on locomotion, obstacle-crossing and broken strand repair have been validated through theoretical analysis, simulation and experiments.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/19882
Collection空间自动化技术研究室
Corresponding Author宋屹峰
Affiliation1.中国科学院沈阳自动化研究所
2.国网山西省电力公司运检公司
Recommended Citation
GB/T 7714
宋屹峰,王洪光,王慧刚,等. 面向断股补修作业任务的电力机器人机构设计[J]. 智能系统学报,2017,12(2):150-157.
APA 宋屹峰,王洪光,王慧刚,凌烈,&姜勇.(2017).面向断股补修作业任务的电力机器人机构设计.智能系统学报,12(2),150-157.
MLA 宋屹峰,et al."面向断股补修作业任务的电力机器人机构设计".智能系统学报 12.2(2017):150-157.
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