高压输电线路自动巡线机器人机构设计及在约束条件下的逆运动学分析

Design of the Mechanical Configuration of Inspection Robot for High Voltage Power Transmission Lines and Analysis on Its Inverse Kinematics with Constraints

设计了一种全新的输电线路自动巡线机器人的机械结构,介绍了该结构的各个组成部分。通过对巡线机器人系统的力学分析,得到了机器人运动的约束条件,在此约束条件下,采用一种可用于实时控制的循环坐标下降法(cyclic-coordinatedescent,CCD)对机器人的逆运动学进行了分析。仿真实验表明,这种迭代算法对于有运动约束系统的逆运动学分析具有较强的适用性,而且具有非常好的收敛性,特别适合于在线计算,便于巡线机器人的实时运动控制,同时验证了机构设计的可行性。

At first, an overall new mechanical configuration was designed for the inspection robot of high voltage power transmission lines, followed by full expatiation on the design＇s different parts. Based on the mechanical analysis of the robot, the constraints of robot kinematics were obtained. A Cyclic-Coordinate Descent（CCD） iterative algorithm was used to solve the inverse kinematics of the robot with constraints. Simulation experimental results show the recursion algorithm is compatible for inverse kinematics of systems with constraints. Furthermore, it is well convergent and efficient for calculation. This algorithm is compatible for on-line computation and propitious to the kinematics control of inspection robot. And the feasibility of the mechanical configuration is validated as well.