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Analysis on the characteristics for a new differential crawling device of an insulator inspection robot
Li XP(李小彭)1,2; Pan, Wujiu1; Li SJ(李树军)1,2; Wang, Xinqi3; Wang HG(王洪光)2
Department空间自动化技术研究室
Source PublicationInternational Journal of Industrial and Systems Engineering
ISSN1748-5037
2018
Volume30Issue:4Pages:512-535
Indexed ByEI
EI Accession number20184806137930
Contribution Rank1
Keywordinsulator inspection robot differential drive crawling device error self-adjustment
AbstractIn order to realise the synchronous drive of the insulator inspection robot with a simple control system, a single drive crawling device of the robot is designed. This device has a three-degree freedom (3-DOF) differential drive system which can be driven by a motor to make the three sets of arm crawl synchronously. It has a certain ability of self-adaption and compensating output errors. First, the crawling device's assembly model of insulator inspection robot is designed. Then the kinematics analysis is established. In addition, a kineto-statics model is founded to analyse the total torque and the stress state of the contact points when the device is crawling. Finally, simulation is used to analyse and the error adjustment of crawling device is studied. After theoretical analysis and dynamic simulation of the crawling device, results show that it has a certain ability of error adjustment.
Language英语
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/23679
Collection空间自动化技术研究室
Affiliation1.School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110819, China
3.Dalian Engineering Construction Co., Ltd. of China First Heavy Industries, Dalian 116000, China
Recommended Citation
GB/T 7714
Li XP,Pan, Wujiu,Li SJ,et al. Analysis on the characteristics for a new differential crawling device of an insulator inspection robot[J]. International Journal of Industrial and Systems Engineering,2018,30(4):512-535.
APA Li XP,Pan, Wujiu,Li SJ,Wang, Xinqi,&Wang HG.(2018).Analysis on the characteristics for a new differential crawling device of an insulator inspection robot.International Journal of Industrial and Systems Engineering,30(4),512-535.
MLA Li XP,et al."Analysis on the characteristics for a new differential crawling device of an insulator inspection robot".International Journal of Industrial and Systems Engineering 30.4(2018):512-535.
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