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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)
Department机器人学研究室
Conference NameIEEE International Conference on Mechatronics and Automation
Conference DateJune 25-28, 2006
Conference PlaceLuoyang, China
Author of SourceIEEE 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 PublicationIEEE ICMA 2006: Proceeding of the 2006 IEEE International Conference on Mechatronics and Automation, Vols 1-3, Proceedings
PublisherIEEE
Publication PlaceNEW YORK
2006
Pages1471-1476
Indexed ByEI ; CPCI(ISTP)
EI Accession number20071710567481
WOS IDWOS:000241434601115
Contribution Rank1
ISBN1-4244-0465-7
KeywordMechamism Design Centroid Adjustment Inspection Of Power Transmission Lines Mobile Robot
AbstractOne 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
Cited Times:5[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/8507
Collection机器人学研究室
Affiliation1.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.
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