摘要
针对高压线巡线任务和避雷线环境提出了一种新型巡检机器人设计方案,规划了巡线越障方式,采用高阻尼转轴与质心调节相协调的杆塔越障方法,并利用ADAMS对系统爬坡过程进行了仿真分析,在驱动轮转矩为10Nm,爬坡坡度为20°时,分析比较了控制箱位于滑台不同位置时横向摆动和机器人行程,结果表明在控制箱位于滑台斜上方50mm处最稳定。
According to the characteristics of the 500Kv transmission line inspection works and conditions of Ground Wire, a new inspecting robot principle and obstacle navigation procedure was proposed. The procedure was car- ried out by coordination of eentroid adjustment and high damping shaft. Finally, climbing simulation was run with AD- AMS and the correctness of its structural principle was confirmed. Horizontal oscillation of control box on the different posrtions of the slide and of the robot stroke were analyzed and compared under the condition of driving torque 10Nm and fine slope 20-degrees. The result shows that the most stable position of the control box is right on the upper part 50mm of the slide.
出处
《机械设计与研究》
CSCD
北大核心
2012年第4期38-41,45,共5页
Machine Design And Research
关键词
巡线机器人
质心调节
越障规划
爬坡仿真
inspection robot
centroid adjustment
obstacle planning
climbing simulation
