文章摘要
王吉岱,张彦囡,甄静.高压线路巡检机器人机械臂闭链机构的运动学分析[J].机床与液压,2018,46(11):41-45.
.Kinematic Analysis of Manipulator of Closed-chain Mechanism of Inspection Robot for Power Transmission Lines[J].Machine Tool & Hydraulics,2018,46(11):41-45
高压线路巡检机器人机械臂闭链机构的运动学分析
Kinematic Analysis of Manipulator of Closed-chain Mechanism of Inspection Robot for Power Transmission Lines
  
DOI:10.3969/j.issn.1001-3881.2018.11.009
中文关键词: 巡检机器人  闭链机构  运动学分析  运动空间  仿真
英文关键词: Inspection robot  Closed-chain  Kinematic analysis  Working space  Simulation
基金项目:
作者单位E-mail
王吉岱 山东科技大学机械电子工程学院 939178562@qq.com 
张彦囡 山东科技大学机械电子工程学院  
甄静 山东科技大学机械电子工程学院  
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中文摘要:
      针对传统高压输电线路巡检机器人作业范围小,越障效率低以及不能跨越引流线的问题,提出了一种三臂式高压输电线路巡检机器人,该机器人前、后机械臂采用平行四边形结构设计,属于局部含有闭链机构的混链机构。在分析了机器人前、后机械臂结构特点的基础上,提出了局部含有闭链机构的机构运动学方程的建模方法。借助MATLAB软件对机械臂的越障空间进行了分析,利用ADAMS软件对机器人在线路行走及跨越引流线过程进行了仿真,验证了机械臂结构的合理性,并通过试验验证了具有局部闭链机构的三臂式机器人可以更好地跨越线路障碍。
英文摘要:
      Aiming at problem of the inspection robot for the high voltage power transmission line with a small working space that caused the robots could not cross drainage line efficiently, a new type of inspection robot with three manipulate arms is proposed. The front and rear arm of the robot was designed of a parallel quadrilateral structure, with a local closed-chain mechanism, was not entirely open-chain structure but mixed. So a new approach for constructing the kinematic equation for the robot arm was also presented based of analysis of the characteristics of local closed chain mechanism. Using MATLAB software to analyze the robot arm’s operating space for crossing obstacles, and the process of the robot crossing the drainage line and walking on the lines was simulated through Adams software verifying the rationality of the robot arm’s structure. The inspection robot with three arms which adopt local closed-chain can cross various obstacles on the line more stably and reliably.
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