一种仿尺蠖式输电线路巡检机器人越障运动分析

Analysis of Obstacle-crossing Motion of an Inchworm-inspired Transmission Line Inspection Robot

针对目前输电线路巡检机器人作业空间小、越障能力差的问题,通过观察与分析尺蠖运动特点,结合仿生学原理,提出了一种仿尺蠖运动的输电线路巡检机器人。运用运动学方法及虚拟样机技术对机器人蠕动式越障运动过程进行仿真与分析,仿真结果表明,机器人结构设计合理,具有较大作业空间,能以蠕动式运动方式跨越线路上引流线等复杂障碍。研制机器人样机并置于模拟线路环境进行实验,实验结果表明,机器人越障过程中重心波动平稳,越障性能稳定可靠。

Aiming at the problems of small working space and weak obstacle crossing ability for the current transmission line inspection robot, a transmission line inspection robot with the imitation of the inchworm movement was proposed by observing and analyzing the movement of the inchworm and combining with the principle of bionics. Kinematic method and virtual prototyping technology were used to simulate and analyze the peristaltic obstacle-crossing movement of the robot. The simulation results present that the robot structure is reasonable and with a large working space, it can cross complicated environment such as drainage lines by using peristaltic movement. The prototype was developed and placed in the simulated environment for experiments. The experimental results show that the center of gravity fluctuates smoothly and the performance of the robot is stable and reliable.