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题名: A novel running and gripping mechanism design based on centroid adjustment
作者: Zhu XL(朱兴龙) ; Wang HG(王洪光) ; Fang LJ(房立金) ; Zhao MY(赵明扬) ; Zhou JP(周骥平)
作者部门: 机器人学研究室
会议名称: IEEE International Conference on Mechatronics and Automation
会议日期: June 25-28, 2006
会议地点: Luoyang, China
会议主办者: IEEE Robot & Automat Soc, Shandong Univ, Harbin Engn Univ, Univ Elect Sci & Technol China, IEEE Hong Kong Sect Joint RACS Chapter, Robot Soc Japan, Japan Soc Mech Engineers, Japan Soc Precis Engn, Chinese Univ Hong Kong, Chiba Inst Technol, Kagawa Univ
会议录: IEEE ICMA 2006: Proceeding of the 2006 IEEE International Conference on Mechatronics and Automation, Vols 1-3, Proceedings
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2006
页码: 1471-1476
收录类别: CPCI(ISTP) ; EI
ISBN号: 1-4244-0465-7
关键词: mechamism design ; centroid adjustment ; inspection of power transmission lines ; mobile robot
摘要: One arm is hung on the overhead ground wires (OGWs), the other is off from OGW when inspection robot autonomously negotiates obstacles on OGWs. The tilt of inspection robot's body is happened because the gravity torque is unbalance, and it is difficult to obstacle negotiating autonomous for inspection robot. If the horizontal pose of the body is kept through the gripping mechanism, the gripping force will become bigger, and result in the damage of OGWs. A centroid adjustment method, which enables the centroid of inspection robot to concentrate on the arm that is hung on OGWs, is proposed in this paper. That idea is applied in design about running and gripping mechanism will ameliorate the strained condition of OGWs and reduce the extent of damage. Dynamic model is established in this paper, the simulation results and the experiments outcomes test that the method proposed is feasible.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8507
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
朱兴龙; 王洪光; 房立金; 赵明扬; 周骥平.A novel running and gripping mechanism design based on centroid adjustment.见:IEEE .IEEE ICMA 2006: Proceeding of the 2006 IEEE International Conference on Mechatronics and Automation, Vols 1-3, Proceedings,NEW YORK,2006,1471-1476
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