论文:2018,Vol:36,Issue(3):432-438
引用本文:
肖时雨, 王洪光, 刘国伟. 一种新型四臂巡检机器人机构设计与运动分析[J]. 西北工业大学学报
Xiao Shiyu, Wang Hongguang, Liu Guowei. Mechanism Design and Kinematic Analysis of a Novel Inspection Robot with Four Arms[J]. Northwestern polytechnical university

一种新型四臂巡检机器人机构设计与运动分析
肖时雨1,2, 王洪光1, 刘国伟3
1. 中国科学院 沈阳自动化研究所 机器人国家重点实验室, 辽宁 沈阳 10016;
2. 中国科学院大学, 北京 100049;
3. 深圳供电局有限公司, 广东 深圳 518048
摘要:
为满足大跨度输电线路对巡检机器人结构尺寸、爬坡性能以及越障性能等方面的要求,从人爬树运动研究中得到启示,设计了一种新型四臂式巡检机器人。首先,通过探索人爬树过程中运动姿态特点,介绍了机器人的机构构型和2种典型障碍物的越障方法。其次,给出了机器人机构的主要尺寸,推导了机器人的运动学方程,对机器人爬坡和越障运动性能进行了分析,以验证机构设计的可行性。最后,在虚拟样机平台上进行了运动仿真实验。结果表明该机器人同时具备较强爬坡能力和跨越单挂点等复杂障碍物的能力。
关键词:    输电线路    巡检机器人    机构设计    运动分析   
Mechanism Design and Kinematic Analysis of a Novel Inspection Robot with Four Arms
Xiao Shiyu1,2, Wang Hongguang1, Liu Guowei3
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
2. University of Chinese Academy of Sciences, Beijing 100049, China;
3. Shenzhen Power Supply Bureau Co., Ltd. Shenzhen 518048, China
Abstract:
To meet the requirements of mechanical dimensions, climbing performance and obstacle negotiation capability of an inspection robot on the long-span transmission line, a novel inspection robot with four arms is designed by drawing on the research on human being's climbing on a tree. Firstly, according to its kinematical characteristics we learned from human being's tree climbing, the mechanism configuration of the robot on the transmission line is introduced and methods of overcoming two typical obstacles are planned. Then, its main structural parameters are provided, its kinematics equation is derived, and the analysis of kinematics performances such as grade ability and obstacle overcoming is carried out to verify the feasibility of the mechanism design. Finally, experiments on movement are conducted on the platform of virtual prototype. The results indicate that the robot has such features as excellent grade ability and obstacle overcoming performance.
Key words:    power transmission line    inspection robot    mechanism design    kinematic analysis   
收稿日期: 2017-05-04     修回日期:
DOI:
基金项目: 国家自然科学基金重点项目(51535008)与南方电网重点科技项目(SZ-KJXM-20150901)资助
通讯作者:     Email:
作者简介: 肖时雨(1986-),中国科学院大学博士研究生,主要从事机器人机构研究。
相关功能
PDF(2282KB) Free
打印本文
把本文推荐给朋友
作者相关文章
肖时雨  在本刊中的所有文章
王洪光  在本刊中的所有文章
刘国伟  在本刊中的所有文章

参考文献:
[1] Paulo D, Michele G. Expliner-From Prototype Towards a Practical Robot for Inspection of High-Voltage Lines[C]//Applied Robotics for the Power Industry, 2010:1-6
[2] Serge M, Nicolas P. Hydro-Québec's Power Line Robotics Program:15 Years of Development, Implementation and Partnerships[C]//Applied Robotics for the Power Industry, 2014:1-6
[3] Nicolas P, Pierreluc R, Serge M. Line Scout Technology Opens the Way to Robotic Inspection and Maintenance of High-Voltage Power Lines[J]. IEEE Power and Energy Technology Systems Journal, 2015, 2(1):1-11
[4] 王耀南,魏书宁,印峰,等. 输电线路除冰机器人关键技术综述[J]. 机械工程学报,2011,47(23):30-38 Wang Yaonan, Wei Shuning, Yin Feng, et al. Review on Key Technology of Deicing Robot Running on Overhead Transmission Line[J]. Chinese Journal of Mechanical Engineering, 2011, 47(23):30-38(in Chinese)
[5] 徐显金,李维峰,吴功平,等. 沿架空地线行驶的自主巡检机器人及应用[J]. 武汉大学学报:工学版,2010,43(6):752-756 Xu Xianjin, Li Weifeng, Wu Gongping, et al. An Autonomous Inspection Robot for Transmission Line along Overhead Ground Line and its Application[J]. Engineering Journal of Wuhan University, 2010,43(6):752-756(in Chinese)
[6] Song Yifeng, Wang Hongguang. A Vision-Based Broken Strand Detection Method for a Power-Line Maintenance Robot[J]. IEEE Trans on Power Delivery, 2014, 29(5):2154-2161
[7] 宋屹峰,王洪光,李贞辉,等. 基于视觉方法的输电线断股检测与机器人行为规划[J]. 机器人,2015,37(2):204-211 Song Yifeng, Wang Hongguang, Li Zhenhui, et al. Vision Based Transmission Line Broken Strand Detection and Robot Behaviour Planning[J]. Robot, 2015, 37(2):204-211(in Chinese)
[8] 李贞辉,王洪光,王越超,等. 输电线巡检机器人自主抓线的控制[J]. 吉林大学学报, 2015,45(5):1519-1526 Li Zhenhui, Wang Hongguang, Wang Yuechao, et al. Line-Grasping Control for a Power Transmission Line Inspection Robot[J]. Journal of Jilin University, 2015,45(5):1519-1526(in Chinese)