气动式除冰机器人及其运动学分析

Kinematics Analysis of a Pneumatic De-icing Robot

针对传统输电线路除冰方法效率低和安全性差的问题,提出了一种气动式输电线路除冰机器人。该机器人采用三臂对称结构,能够在输电线路上高效除冰并越障行走。在此基础上,采用齐次坐标变换法进行机器人的运动学分析,包括机器人运动学正、逆方向的求解,建立了机器人在越障过程中手臂位姿与各关节变量之间的关系,并在ADAMS环境下对机器人跨越悬垂线夹过程进行运动学仿真。仿真结果和线路运行试验验证了机器人越障的可行性。

A new pneumatic de-icing robot was presented in view of the fact that traditional de- icing methods was usually inefficient and unsafe. The de-icing robot with three arms has high efficiency in de-icing and obstacle crossing. By establishing cartesian coordinate of de-icing robot and applying coordinate transformation to derive converse and positive kinematics equation of the robot, the relation between the position of the whole robot and all joint varieties and the structure parameters can be determined. Three-dimensional model of the robot was imported to ADAMS to simulate the procedure of overhanging suspension clamp. The feasibility of the model was tested to be reliable and feasible through the emulative result and experimental operations.