输电线路巡检机器人仿生结构研究

Study on the Bionic Structure of Inspection Robot for Power Transmission Lines

针对传统高压输电线路巡检机器人作业范围小,受障碍物尺寸限制以及不能跨越引流线等问题,通过观察长臂猿手臂和运动特点,结合仿生学原理,提出了一种基于灵长类动物特征的三臂对称分布式高压输电线路仿生机器人,并建立了机器人的虚拟样机。结合ADAMS软件仿真分析了机器人模拟长臂猿在线路行走及跨越引流线过程,并通过实验反复验证,验证了机器人仿生机构的合理性与稳定性,同时机器人能够稳定可靠的跨越线路障碍,具有越障效率高等优点。

By observing the characteristics of gibbons, combined with the principle of bionics,a new type robot with the three arm symmetrical distributed based on the primate characteristics for the inspection of high voltage transmission line is proposed in this paper. The new structure of the inspection robot can be moving and crossing various obstacles, especially crossing drainage line, along the high voltage transmission line inspection robot because of the advantages of more widely operation range compared with traditional structures. And the virtual prototype of the robot is built. Based on this ,the operation process of crossing obstacles on the power line imitating the gibbon action is analyzed with ADAMS software, through the repeated scene simulation experiments ,the rationality and stability of bionic mechanism are verified .The robot can cross line obstacle is stably and reliably ,and has the strong climbing ability.