| 超高压输电线路巡线机器人结构设计与运动学仿真 |
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| 引用本文： | 李晓舟,许金凯,于化东,孙志怀,刘岩.超高压输电线路巡线机器人结构设计与运动学仿真[J].长春理工大学学报,2009,32(3):377-380,369. |
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| 作者姓名： | 李晓舟 许金凯 于化东 孙志怀 刘岩 |
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| 作者单位： | 长春理工大学,机电工程学院,长春,130022 |
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| 摘 要： | 针对500kv超高压输电线路巡检作业,提出采用步进式与轮式混合爬行机构的巡线机器人作业方案,建立了巡线机器人基于特征的参数化模型,以此为基础建立了该机器人的虚拟样机;从机构学的角度分析了巡线机器人操作臂的关节角位移、角速度等参数;基于ADAMS建立了运动仿真模型,对巡线机器人进行了运动仿真,验证了巡线机器人结构设计和运动规划的合理性和正确性.
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| 关 键 词： | 巡线机器人 输电线路 运动学 仿真 |
Mechanism Design and Kinematics Simulation of Inspection Robot for Extra-High Voltage Power Transmission Lines |
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| LI Xiaozhou,XU Jinkai,YU Huadong,SUN Zhihuai,LIU Yan.Mechanism Design and Kinematics Simulation of Inspection Robot for Extra-High Voltage Power Transmission Lines[J].Journal of Changchun University of Science and Technology,2009,32(3):377-380,369. |
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| Authors: | LI Xiaozhou XU Jinkai YU Huadong SUN Zhihuai LIU Yan |
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| Affiliation: | LI Xiaozhou,XU Jinkai,YU Huadong,SUN Zhihuai,LIU Yan(School of Mechanical , Electrical Engineering,Changchun University of Science , Technology,Changchun 130022) |
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| Abstract: | According to the characteristic of the 500kv transmission line inspection works,a step and rolling wheel hybrid crawl inspection robot is proposed and the virtual prototype is established based on the inspection robot parameterization model.The angular displacement and angular velocity parameters of the manipulator joint are analyzed in the view of mech-anism.The ADAMS based simulation model conducts motion simulation and verifies the mechanic designing and the motion planning are reasonable and correct. |
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| Keywords: | inspection robot transmission line kinematics simulation |
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