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Alternative TitleMechanism Analysis of a Wheel-Leg Insulator Inspection Robot
王林; 王洪光; 张宏志
Source Publication机械设计与制造
Issue1Pages:254-256, 260
Contribution Rank1
Funding Organization国家电网公司科技项目(N201204F-DDZX-06)
Keyword悬垂绝缘子 机器人 带电检测 轮腿式机构 运动规划
Other AbstractInspecting faulty insulators using insulator inspection robots is becoming very popular in the maintenance of power transmission lines. Based on wheel-leg locomotion mechanism,this paper proposes an insulator inspection robot mechanism which is intended for detecting the insulation resistance of suspension insulator strings in 500kV power transmission lines. The moving principle is introduced and the dimensions of the mechanism are determined. Moreover,the kinematics is studied. The fact that there is a rigid impulse during the movement of the robot is pointed out and the reason is analyzed. Finally,the rigid impulse is eliminated by planning the trajectory of the robot. Simulation result shows that the robot moves smoothly after trajectory planning.
Document Type期刊论文
Corresponding Author王林
Recommended Citation
GB/T 7714
王林,王洪光,张宏志. 一种轮腿式悬垂绝缘子检测机器人机构分析[J]. 机械设计与制造,2018(1):254-256, 260.
APA 王林,王洪光,&张宏志.(2018).一种轮腿式悬垂绝缘子检测机器人机构分析.机械设计与制造(1),254-256, 260.
MLA 王林,et al."一种轮腿式悬垂绝缘子检测机器人机构分析".机械设计与制造 .1(2018):254-256, 260.
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