摘要
为利用机器人代替人工完成隧道电缆巡检,设计一款带云台升降的吊轨式巡检机器人并对其行走过程进行力学分析。根据隧道内具体环境的要求,确定机器人工作原理与系统构成;对机器人的主要结构模块进行设计,并搭建机器人传感与控制系统;基于达朗贝尔原理建立机器人行走过程力学模型,通过仿真对其行走过程中的驱动力变化规律进行分析。仿真结果表明:该机器人满足行走速度大于0.8m/s、爬坡能力大于15°以及转弯半径小于0.5 m的性能指标,具备可行性与实用价值。
In order to use robot to replace manual work to complete the inspection of tunnel cable, a hanging rail inspection robot with PTZ lifting is designed and its walking process is analyzed. According to the requirements of the specific environment in the tunnel, the working principle and system composition of the robot are determined. The main structural modules of the robot are designed, and the sensing and control system of the robot is built. Based on the D’Alembert principle, the mechanical model of the walking process of the robot is established, and the driving force change law in the walking process is analyzed through simulation. The simulation results show that the walking speed of the robot is greater than 0. 8 m/s, the climbing ability is greater than 15 °, and the turning radius is less than 0. 5 m, so the robot has feasibility and practical value.
作者
刘子恒
吴杰
陶卫军
Liu Ziheng;Wu Jie;Tao Weijun(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210000,China)
出处
《兵工自动化》
2022年第12期49-55,65,共8页
Ordnance Industry Automation
关键词
巡检机器人
隧道电缆
力学性能分析
inspection robot
tunnel cable
mechanical property analysis
