架空线移动机器人行走越障特点  

Research on the characteristics of the movement and obstacle-clearing processes of a wire-suspended mobile robot

作　　者：房立金[1] 王洪光[2] 

机构地区：[1]东北大学机械工程与自动化学院,辽宁沈阳110004 [2]中国科学院沈阳自动化研究所,辽宁沈阳110016

出　　处：《智能系统学报》2010年第6期492-497,共6页CAAI Transactions on Intelligent Systems

基　　金：国家自然科学基金资助项目(60875082);中央高校基本科研业务费专项资金资助项目(N090403003)

摘　　要：面向电力巡检及维护作业任务需求,以电力输电线路为对象,分析了架空线移动机器人运动环境的特点,对典型架空线移动机器人行走越障过程的特点以及质心调节的影响情况进行了分析,探讨了机器人质心调节方法.提出了一种新型双臂四轮机器人结构以及被动适应的手臂方案,并提出了一种主被动结合的运动协调控制方法.提出的方法在巡检机器人系统中得到了实际应用,实验室模拟线路及实际线路的运行情况表明了机器人系统设计的合理性以及所提出方法的有效性.In order to meet inspection and maintenance requirements based on power transmission lines,the robot＇s moving environment and the obstacle-clearing processes were analyzed.The robot design characteristics and the centroid-adjustment influence were given.A new robot structure with two arms,four wheels,and a passive adaptive arm design was presented.Moreover,a centroid-adjustment method and a new passive-active hybrid motion control method were also presented.Finally,the method was used in the robot inspection system and verified through experiments in artificial environments and actual transmission lines.The results show that the method is feasible and very effective for improving the performance of robot contro1

关 键 词：移动机器人 架空线路 质心调节 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]