摘要
文中针对目前应用较为广泛的吊臂式巡线机器人在跨越线缆附件时所出现的姿态失稳现象进行了研究,从机构学的角度研制了相应的俯仰失稳自平衡机构、侧倾失稳自平衡机构,并分析了其工作原理。通过理论分析和实验验证,证明了上述自平衡机构的实用性和可行性,为电力巡线机器人的应用推广奠定了坚实的基础。
The research on the posture instability phenomena occurred when the widely applied suspension arm inspection robot is crossing over the cable attachments was carried out,the respective pitching instability self-balance mechanism and side sway instability self-balance mechanism was presented from the point view of mechanism,and the analysis of their operating principles was also conducted.Above self-balance mechanism has been proven to be practical and feasible by theoretical analysis and experimental testing,laying a solid foundation for the application popularization of power line inspection robot.
出处
《机械设计》
CSCD
北大核心
2011年第1期49-53,共5页
Journal of Machine Design
关键词
吊臂式巡线机器人
悬吊姿态
俯仰失稳
侧倾失稳
自平衡机构
suspension arm line inspection robot
suspension arm posture
pitching instability
side sway instability
self-balance mechanism
