| 全向四驱变电站巡检机器人运动控制系统设计 |
| |
| 引用本文： | 李荣,栾贻青,王海鹏,李建祥,周岳,许玮,黄锐.全向四驱变电站巡检机器人运动控制系统设计[J].机床与液压,2020,48(8):112-116. |
| |
| 作者姓名： | 李荣 栾贻青 王海鹏 李建祥 周岳 许玮 黄锐 |
| |
| 作者单位： | 山东省电力公司,山东济南250011;山东鲁能智能技术有限公司,山东济南250000 |
| |
| 基金项目： | 国家电网公司总部科技项目（520600180003） |
| |
| 摘 要： | 为了实现变电站室内外一体化巡检,开发全向四驱结构的变电站巡检机器人。着重阐述该机器人运动控制系统的开发过程:介绍全向四驱移动平台的机械结构及运动控制系统结构,建立移动平台的运动学模型,探讨全向四驱机器人不同的运动模式并提出了控制方法。对研制的全向四驱变电站巡检机器人进行测试,验证了运动控制系统的可靠性以及控制方法的有效性。
|
| 关 键 词： | 全向四驱 巡检机器人 运动控制 |
Design of Motion Control System for Omnidirectional Four-drive Substation Patrol Robot |
| |
| LI Rong,LUAN Yiqing,WANG Haipeng,LI Jianxiang,ZHOU Yue,XU Wei,HUANG Rui.Design of Motion Control System for Omnidirectional Four-drive Substation Patrol Robot[J].Machine Tool & Hydraulics,2020,48(8):112-116. |
| |
| Authors: | LI Rong LUAN Yiqing WANG Haipeng LI Jianxiang ZHOU Yue XU Wei HUANG Rui |
| |
| Affiliation: | (State Grid Shandong Electric Power Company, Ji’ nan Shandong 250011, China;Shandong Luneng Intelligence Technology Co.,Ltd., Ji’ nan Shandong 250000, China) |
| |
| Abstract: | In order to realize the inspection of substation indoor and outdoor equipment with only one robot, an omnidirectional four-drive substation inspection robot was developed. The development process of the motion control system of the robot was focused on. The mechanical structure and motion control system structure of the omnidirectional four-drive mobile platform were introduced.The kinematic model of the mobile platform was established. The different motion modes of the omnidirectional four-drive robot were discussed and the control methods were proposed. Finally, the omnidirectional four-drive substation inspection robot was tested, which verified the reliability of the motion control system and the effectiveness of the control method. |
| |
| Keywords: | Omnidirectional four-drive Patrol robot Motion control |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
| 点击此处可从《机床与液压》浏览原始摘要信息 |
|
点击此处可从《机床与液压》下载全文 |
|
