| 线缆巡线机器人机械结构设计及动力学分析 |
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| 引用本文： | 封尚,章合滛,薛建彬,向光辉.线缆巡线机器人机械结构设计及动力学分析[J].机械与电子,2013(12):70-74. |
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| 作者姓名： | 封尚 章合滛 薛建彬 向光辉 |
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| 作者单位： | 南京航空航天大学机电学院 |
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| 摘 要： | 设计一种新型的线缆巡线机器人，将被用作移载平台实现线缆健康状态检测。介绍了机器人的机械结构组成，对其在线缆上的爬行动作进行动力学分析，推算出其平稳行走的驱动力条件。在ADAMS仿真软件下验证了运行结果。
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| 关 键 词： | 巡线机器人 移载平台 力学分析 AD—AMS |
Kinematic Analysis and Mechanical Structure Design for a Cable Climbing Robot |
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| FENG Shang;ZHANG He-yin;XUE Jian-bin;XIANG Guang-hui.Kinematic Analysis and Mechanical Structure Design for a Cable Climbing Robot[J].Machinery & Electronics,2013(12):70-74. |
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| Authors: | FENG Shang;ZHANG He-yin;XUE Jian-bin;XIANG Guang-hui |
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| Affiliation: | FENG Shang;ZHANG He-yin;XUE Jian-bin;XIANG Guang-hui;College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics; |
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| Abstract: | This paper presents a new cable climbing robot, which is planned to work as a transferplatform to realize cable healthy status inspection. The mechanical structure of the robot is described,the kinematics of crawling activity on a cable is analyzed, and the driving force is calculated for its smoothly running condition. Finally, the resuits are verified by simulation in the ADAMS software. |
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| Keywords: | cable climbing robot transfer platform kinematic analysis ADAMS |
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