新型三臂巡线机器人机构设计及运动分析

Mechanism Design and Kinematic Analysis of a Novel Tribrachiation Robot for Transmission Line Inspection

为了增强机器人的越障能力,简化机械结构,减小越障时的电机负荷,设计了一种新型结构的三臂巡线机器人.该机器人采用双平行四边形桁架构型实现三臂的位姿调整运动,机构重心可调以减小桁架控制电机的负荷,各臂末端设置夹线轮以增强机器人跨越引流线障碍的能力.巡线机器人调整形态越障时,因机构重心偏移会引起机器人整体绕线缆偏转,属于基座浮动式机器人.根据机器人重力平衡条件构造优化目标函数,以基座浮动角度作为搜索变量,将基座浮动式机器人的运动分析问题转化为一维优化问题进行求解,仿真实验验证了算法的有效性.原型样机在实验室环境下完成了线上行走和越障实验,验证了机构的可行性.

A novel tribrachiation robot is designed to enhance its cross-obstacle ability, simplify its structure, and reduce the load on motors. A dual-parallelogram frame structure is taken as the main part of the robot to adjust the gesture of each arm, the robot centroid can be adjusted to decrease the load on the motors for frame shape control, and the robot ability to traverse flexible jumper line is enhanced by the gripper at the end of each arm. Line inspection robot, which can be categorized as a floating base robot, will rotate around the line passively due to centroid deviation when it changes configuration to traverse obstacles. The kinematic analysis for floating base robot is converted to one-dimensional optimization, where the gravity balance condition is considered to construct the optimization objective function and the floating base angle is regarded as the optimization parameter. Simulation shows the effectiveness of the proposed method, and the feasibility of the mechanism is verified by the prototype robot traversing obstacles on line in laboratory environment.