高压特种作业机械手动力学分析仿真  

Dynamics Analysis of Manipulator of High Voltage Special Operation

作　　者：张丹丹[1] 

机构地区：[1]内蒙古民族大学机械工程学院,内蒙古通辽028000

出　　处：《机械传动》2013年第3期70-73,共4页Journal of Mechanical Transmission

摘　　要：高压输电线路长期暴露在外,不可避免地会产生输电线路故障,需及时发现、维修。本方案是配套500 kV六分裂输变线路高压特种作业机器人的高压特种作业机械手,对其进行动力学分析仿真。在建立SimMechanics机械手模型的基础上分别进行正向动力学分析和逆向动力学分析。借助Mat-lab图形方式生成机械手系统的三维动画。If the high voltage transmission lines are exposed for a long time, it will inevitably break down, and need discovered and maintained. This scheme which is supporting 500kV six division design of high voltage line spe- cial operation of the robot is manipulator with high voltage and special operation, the simulating dynamics analysis. On the basis of SimMechanics model, the positive dynamics analysis and reverse dynamics analysis are solved. With the aid of Matlab graphics mode, the manipulator system of the three dimensional animation is generated.

关 键 词：高压输电线路 机械手 动力学分析 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]