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一种新型四臂巡检机器人机构设计与运动分析
Alternative TitleMechanism Design and Kinematic Analysis of a Novel Inspection Robot with Four Arms
肖时雨1,2; 王洪光1; 刘国伟3
Department空间自动化技术研究室
Source Publication西北工业大学学报
ISSN1000-2758
2018
Volume36Issue:3Pages:432-438
Indexed ByEI ; CSCD
EI Accession number20183905876029
CSCD IDCSCD:6274711
Contribution Rank1
Funding Organization国家自然科学基金重点项目(51535008) ; 南方电网重点科技项目(SZ-KJXM-20150901)资助
Keyword输电线路 巡检机器人 机构设计 运动分析
Abstract

为满足大跨度输电线路对巡检机器人结构尺寸、爬坡性能以及越障性能等方面的要求,从人爬树运动研究中得到启示,设计了一种新型四臂式巡检机器人。首先,通过探索人爬树过程中运动姿态特点,介绍了机器人的机构构型和2种典型障碍物的越障方法。其次,给出了机器人机构的主要尺寸,推导了机器人的运动学方程,对机器人爬坡和越障运动性能进行了分析,以验证机构设计的可行性。最后,在虚拟样机平台上进行了运动仿真实验。结果表明该机器人同时具备较强爬坡能力和跨越单挂点等复杂障碍物的能力。

Other Abstract

To meet the requirements of mechanical dimensions,climbing performance and obstacle negotiation capability of an inspection robot on the long-span transmission line,a novel inspection robot with four arms is designed by drawing on the research on human being’s climbing on a tree. Firstly,according to its kinematical characteristics we learned from human being’s tree climbing,the mechanism configuration of the robot on the transmission line is introduced and methods of overcoming two typical obstacles are planned. Then,its main structural parameters are provided,its kinematics equation is derived,and the analysis of kinematics performances such as grade ability and obstacle overcoming is carried out to verify the feasibility of the mechanism design. Finally,experiments on movement are conducted on the platform of virtual prototype. The results indicate that the robot has such features as excellent grade ability and obstacle overcoming performance.

Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/22310
Collection空间自动化技术研究室
Corresponding Author肖时雨
Affiliation1.中国科学院沈阳自动化研究所机器人国家重点实验室
2.中国科学院大学
3.深圳供电局有限公司
Recommended Citation
GB/T 7714
肖时雨,王洪光,刘国伟. 一种新型四臂巡检机器人机构设计与运动分析[J]. 西北工业大学学报,2018,36(3):432-438.
APA 肖时雨,王洪光,&刘国伟.(2018).一种新型四臂巡检机器人机构设计与运动分析.西北工业大学学报,36(3),432-438.
MLA 肖时雨,et al."一种新型四臂巡检机器人机构设计与运动分析".西北工业大学学报 36.3(2018):432-438.
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