巡线机器人末端执行机构的参数化设计与优化设计方法  

Parametric and Optimization Design Methods of End-effector Mechanism of Inspection Robot

作　　者：金珈成[1] 赵殿全[1] 龙志伟[2] 许金凯[2] 

机构地区：[1]吉林省电力有限公司超高压公司,长春130033 [2]长春理工大学制导与对抗技术研究所,长春130022

出　　处：《长春理工大学学报（自然科学版）》2012年第2期115-117,114,共4页Journal of Changchun University of Science and Technology(Natural Science Edition)

摘　　要：给出了超高压输电线路巡线机器人结构方案,建立了基于巡线机器人末端执行结构几何参数的数学模型与力学模型;阐述了末端执行机构中的异形片刹车机构与末端执行器开合机构参数化设计与优化方法及实现过程;运用数值分析软件实现了末端执行机构的多目标规划和优化设计;利用有限元分析软件对优化设计前后的末端执行机构进行强度与变形分析,分析结果验证了机构模型的合理性及优化设计的可行性。A structure scheme of the inspection robot for extra high voltage electric power transmission lines is pro- posed. The three dimensioned mathematic and mechanies models are established based on the geometric parameters of the end-effector of inspect robot. The parametric design and optimization are described in detail for shaped piece brake mechanism and opening-closing meehanism of end-effector. Multi objective Programming and optimization of end-effec- tor are realized using numerical software. By utilizing FEM, the deformation and stress analyses are performed for the optimized end-effector mechanism, the results verified that the mechanism model and optimization are reasonable.

关 键 词：巡线机器人 异形片刹车机构 开合机构 参数化设计 优化设计 

分 类 号：TH122[机械工程—机械设计及理论] TH132.22