一种新型四臂巡检机器人的机械本体设计与越障仿真分析

Mechanical Structure Design and Obstacle-navigation Simulation Analysis of a New Inspection Robot With Four Arms

针对500 k V超高压输电线路四分线的分布特点及巡检要求,介绍了一种新型的四臂巡检机器人的机械结构,利用ADAMS软件对其越障过程进行运动学仿真及运动分析,并通过现场模拟反复实验,验证该机器人不仅能稳定地跨越输电线路上四分裂间隔棒、悬垂线夹及防震锤等障碍,而且具有越障效率高、爬坡能力强等特点。

According to the distribution characteristics and the inspection requirements of 500 kV super - high voltage transmission line, the mechanical structure of a new inspection robot with four arms is introduced. Based on this, the kinematical simulation and kinematic analysis of the obstacle - navigation process are con- ducted by using ADAMS. Through the repeated scene simulation experiments, it is verified that the robot not only can stably span the four splitting interval rods, suspension clamps and shockproof hammers and other obsta- cles, but also can span these obstacles with high efficiency and has the strong climbing ability.