基于ADAMS的输电线路移动机器人越障仿真  

ADAMS-BASED SIMULATION OF OBSTACLE-CROSSING FOR A MOBILE ROBOT ON TRANSMISSION LINES

作　　者：赵金龙[1] 曹雷[1] 郭锐[1] 张峰[1] 

机构地区：[1]山东电力研究院国家电网公司电力机器人技术实验室,山东济南250002

出　　处：《计算机应用与软件》2012年第4期220-223,228,共5页Computer Applications and Software

摘　　要：移动越障机构是输电线路移动机器人的基础,也是目前制约线路移动机器人发展的技术障碍之一。采用SolidWorks三维建模软件和ADAMS动力学仿真分析软件在虚拟环境中建立双臂移动机器人的仿真模型。通过避障路径规划生成运动仿真数据,在ADAMS虚拟环境中实现双臂移动机器人的稳定越障。仿真结果表明:双臂移动机器人的两臂交错滑移结构设计能够满足行走要求,且避障路径规划方法可行,仿真数据可为下一步双臂移动机器人物理样机的研制提供理论参考。The mobile obstacle-crossing mechanism is the fundamental of the robot for inspection of transmission lines,and is one of the technical hurdles restricting the development of lines mobile robot at present.Based on 3D modelling software SolidWorks and dynamics simulation analysis software ADAMS,a simulation model of dual-arm mobile robot is established in virtual environment.Through the obstacle-avoidance path planning method,the kinematic simulation data is generated,and in ADAMS virtual environment the stable obstacle-crossing by the dual-arm mobile robot is achieved.Simulation results indicate that the design of dual-arm crisscross sliding structure can meet the walking requirements,and the method of obstacle-avoidance path planning is feasible,the simulation data can be used as reference for further research and development of physical prototype of the dual-arm robot.

关 键 词：输电线路 移动机器人 越障 运动学分析 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]