高压绝缘子清扫机器人的动力学建模及分析

Dynamic Modeling and Analysis of a Cleaning Robot for Hotline Insulators

从支柱型绝缘子带电清扫机器人的振动问题中,提取出一类由柔性臂和刚性臂组成的系统,刚性臂和柔性臂之间采用垂直移动关节连接,构成了末端具有移动刚体的柔性臂系统.在假设模态法的基础上建立了系统的Lagrange动力学模型,建模过程考虑了重力对柔性臂振动的影响.根据模型分析了刚性臂全局运动与柔性臂柔性振动的相互影响,刚性臂的全局运动使柔性臂的振动频率降低,阻尼增加.应用该模型对绝缘子清扫机器人的振动进行了仿真.为优化清扫臂的全局运动,降低升降臂的振动提供了依据.

A kind of flexible manipulator system, which consists of a flexible link and a rigid link, was provided based on the vibration of a cleaning robot for hotline insulators. The flexible link and the rigid one are jointed together by an orthogonal translating joint, forming a flexible manipulator with a moving rigid body on the tip. Lagrange dynamic model was established based on the assumed mode method. The effect of gravity on the vibration of flexible link is considered in the model. The effects between the flexible link and rigid one were analyzed based on the dynamic model. The global motion of the rigid link decreases the vibration frequency of flexible link while increases the general damping. Simulation of the vibration of a cleaning robot for hotline insulators was carried out using the dynamic model.