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Research on a novel bionic robot mechanism for power transmission lines inspection
Xiao SY(肖时雨); Wang HG(王洪光)
作者部门空间自动化技术研究室
会议名称2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
会议日期December 3-7, 2016
会议地点Qingdao, China
会议录名称Proceedings of the 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
出版者IEEE
出版地New York
2016
页码1361-1366
收录类别EI ; CPCI(ISTP)
EI收录号20171403534898
WOS记录号WOS:000405724600229
产权排序1
ISBN号978-1-5090-4363-7
摘要Robotics has yet become an advanced and reliable technology widely deployed in practical application of power transmission lines inspection for the purpose of stretching the reach of the lineman's arm and eyes. However, as in some hostile environments, excellent climbing performance and maneuverability remain as the greatest challenges and always can't be achieved simultaneously for the existing inspection robots. To overcome the problem, this paper presents a novel bionic robot mechanism on the basis of imitating human beings climb up the tree. After a brief introduction of environment features and motion requirements, the climbing motion of human beings is studied and the mechanical design of robot is accomplished. And then the kinematics equations are deduced, the force conditions are discussed and optimized. Furthermore, the motion sequences of negotiating two kind of typical obstacles are planned. Finally, some simulation has been carried out and the simulation results show that the mechanism can achieved the expected goals.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/20192
专题空间自动化技术研究室
通讯作者Xiao SY(肖时雨)
作者单位State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
推荐引用方式
GB/T 7714
Xiao SY,Wang HG. Research on a novel bionic robot mechanism for power transmission lines inspection[C]. New York:IEEE,2016:1361-1366.
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