| A novel running and gripping mechanism design based on centroid adjustment | |
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)
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| Department | 机器人学研究室 |
| Conference Name | IEEE International Conference on Mechatronics and Automation |
| Conference Date | June 25-28, 2006 |
| Conference Place | Luoyang, China |
| Author of Source | 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 |
| Source Publication | IEEE ICMA 2006: Proceeding of the 2006 IEEE International Conference on Mechatronics and Automation, Vols 1-3, Proceedings |
| Publisher | IEEE |
| Publication Place | NEW YORK |
| 2006 | |
| Pages | 1471-1476 |
| Indexed By | EI ; CPCI（ISTP） |
| EI Accession number | 20071710567481 |
| WOS ID | WOS:000241434601115 |
| Contribution Rank | 1 |
| ISBN | 1-4244-0465-7 |
| Keyword | Mechamism Design Centroid Adjustment Inspection Of Power Transmission Lines Mobile Robot |
| Abstract | 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. |
| Language | 英语 |
| Citation statistics | |
| Document Type | 会议论文 |
| Identifier | http://ir.sia.cn/handle/173321/8507 |
| Collection | 机器人学研究室 |
| Affiliation | 1.Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning Province, 110016, China 2.Mechanical Engineering College, Yangzhou University, Yangzhou, Jiangsu Province, 225009, China |
| Recommended Citation GB/T 7714 | Zhu XL,Wang HG,Fang LJ,et al. A novel running and gripping mechanism design based on centroid adjustment[C]//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. NEW YORK:IEEE,2006:1471-1476. |
| Files in This Item: | ||||||
| File Name/Size | DocType | Version | Access | License | ||
| HYQW000148.pdf（697KB） | 会议论文 | 开放获取 | CC BY-NC-SA | View Application Full Text | ||
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