摘要
由于架空地线呈悬链线状,从而导致机器人车体在运行过程中发生倾斜现象,利用倾角传感器测量机器人车体与水平面之间的倾角,通过调节机械臂的长度,保证机器人车体的水平姿态。这种方法虽然解决了车体倾斜现象的发生,但出现机器人两行走轮在架空地线上打滑的现象,从而造成对架空地线不必要的损伤,同时加速行走轮的磨损。本文针对这一问题,通过运动分析,指出了造成这一问题的影响因素,提出了通过调节行走轮的转速消除打滑的方法,试验证明这种方法是可行的。
As the overhead transmission line displays catenary shape, the tilt of inspection robot＇s body will during running procedure. By adjusting the length of the manipulators according to the obliquitous sensor, im to keep robot body＇s horizontal pose can be implemented - But the skid will occur between running wheels he overhead ground wires. It will damnify the overhead ground wires, accelerate abrasion of running wheels. In der to solve this problem, a method that eliminates skid by analyzing all kinds of factors is proposed in this paper. The experiment tests that the method proposed is feasible.
出处
《机械设计与研究》
CSCD
北大核心
2007年第5期102-105,共4页
Machine Design And Research
关键词
打滑
运动学
输电线路检测
巡检机器人
skid
kinematics,inspection of transmission lines, inspection robot
