SIA OpenIR  > 空间自动化技术研究室
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
Source Publication智能系统学报
Indexed ByCSCD
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
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.
Citation statistics
Document Type期刊论文
Corresponding Author宋屹峰
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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