摘要
提出了一种新的输电线路除冰机器人越障的方法,并设计了与该越障方法相适应的机器人机械结构。机器人采用轮臂复合式结构,能在输电线路上连续行走除冰并跨越障碍物。在分析了机器人在上下坡时应该满足的力学要求后,对机器人跨越障碍物进行了运动学和动力学分析,验证了该设计的合理性与可行性。
This paper presents a novel obstacle - navigation method of de - icing robot, which suspended on power transmission lines with two manipulators and a body. After the robot＇s configuration is described,the mechanical request of the robot is discussed. Then the kinematics and dynamics of the robot when it navigates obstacle is analyzed in details. The simulation results show the feasibility of the design.
出处
《机械与电子》
2009年第10期52-55,共4页
Machinery & Electronics
基金
国家科技支撑计划项目(2008BAF36B00)
关键词
高压输电线路
机器人
轮臂复合
机构
越障
power transmission line
robot
manipulator
mechanical configuration
obstacle - navigation
