架空输电线路巡线机器人越障过程运动学仿真分析

本文针对高压输电线路巡检作业,提出采用三臂结构的巡线机器人作业方案。根据该方案,进行了巡线机器人结构设计和运动学分析,利用三维参数化造型软件SolidWorks建立了该机器人的虚拟样机,利用机械系统动力学仿真软件ADAMS对巡线机器人进行了运动机构仿真,模拟机器人的实际运动状态,通过模拟和分析,寻求巡线机器人的合理结构,验证了结构设计与动作规划的合理性,得到高压输电线路巡线机器人的合理设计方案。

Kinematics Simulation of Obstacle-crossing Process for a Mobile Robot on Transmission Lines

Based on inspecting work for high-voltage power transmission lines, the project of an three-arm inspection robot is put forward in the paper. The structural design and kinematics analysis of the inspection robot is completed. By three-dimensional parameter modeling software SolidWorks, the virtual prototype of this robot is set up. By mechanical system dynamics simulation software ADAMS, simulation on the kinematics of the robot mechanism is run and the practical motion state of the robot is simulated. For the rational structure of the inspection robot, the rationality of mechanism design and motion project has been verified through simulation and analysis. At last the rational design project is gained.