基于变胞理论的欠驱动清除机构设计及控制研究

Research on Design and Control of Underactuated Clearance Mechanism Based on Metamorphic Theory

针对高压输电线路清除杂物的机器人清除机构复杂、整体质量大、控制困难,采用变胞理论设计了一种欠驱动杂物清除机构。根据清除机构不同的工作阶段推导出该机构的变胞方程,以变胞方程为基础,对机器人清除结构进行控制实验,实验结果验证清除机构具有合理性。

The removal mechanism of the robot for removing debris from high-voltage transmission lines is complicated,and it is heavy and difficult to control.An underactuated debris removal mechanism is designed by using the theory of variable cells.According to the different working stages of the cleaning mechanism,the metamorphic equation of the mechanism is derived.Based on the cell equation,the control experiment of the robot removal structure is carried out.The experimental results verify that the cleaning mechanism is reasonable.