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一种自主越障巡检机器人行走夹持机构
Alternative TitleA kind of holding mechanism of walking autonomous obstacle surmounting and touring inspection robot
朱兴龙; 王洪光; 房立金; 赵明扬; 周骥平
Department机器人学研究室
Source Publication机械设计
ISSN1001-2354
2006
Volume23Issue:8Pages:11-13,40
Indexed ByCSCD
CSCD IDCSCD:2473463
Contribution Rank1
Funding Organization863高技术研究发展计划资助项目(2002AA420110)
Keyword行走夹持机构 偏心夹持机构 输电线路检测 移动机器人
Abstract在机器人越障过程中,由于重力的影响使得机器人车体水平姿态发生变化,从而机器人自主越障变得十分困难。分析了超高压输电线路障碍物的类型,提出了一种新的双臂自主越障巡检机器人构型,该构型能够跨越输电线路上的障碍物。针对这种新构型,阐述了机器人行走夹持机构的工作原理和实现形式,着重分析研究了偏心夹持机构对保持车体水平姿态的机理。最后,通过越障实验验证了行走夹持机构的可行性。
Other AbstractIn the obstacle-surmounting course of robot,variations have taken place on the horizontal posture of robot body due to the influence of gravity,thus let the autonomous obstacle surmounting of robot becomes quite difficult.This paper analyzed the types of obstacles of super-high voltage transmission line,and a kind of new typed configuration,which could stride over the obstacles on the transmission line,of double armed autonomous obstacle surmounting and touring inspection robot was put forward.Directed against this kind of new configuration,the working principle of the walking and holding mechanism of robot and the form of realization were elaborated,and the mechanism of keeping the body a horizontal posture by the eccentric holding mechanism was emphatically analyzed and studied.Finally,the feasibility of walking and holding mechanism was verified by means of surmounting obstacles test.
Language中文
Citation statistics
Cited Times:3[CSCD]   [CSCD Record]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/2774
Collection机器人学研究室
Corresponding Author朱兴龙
Affiliation1.中国科学院沈阳自动化研究所
2.扬州大学机械工程学院
Recommended Citation
GB/T 7714
朱兴龙,王洪光,房立金,等. 一种自主越障巡检机器人行走夹持机构[J]. 机械设计,2006,23(8):11-13,40.
APA 朱兴龙,王洪光,房立金,赵明扬,&周骥平.(2006).一种自主越障巡检机器人行走夹持机构.机械设计,23(8),11-13,40.
MLA 朱兴龙,et al."一种自主越障巡检机器人行走夹持机构".机械设计 23.8(2006):11-13,40.
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