基于仿生原理的架空输电线路巡线机器人越障模型  

Bio-inspired model of inspection robot for striding obstacle on overhead transmission line

作　　者：王相[1] 刘一 张学良 

机构地区：[1]河海大学计算机与信息学院 [2]中国石油重庆销售江南分公司 [3]解放军92602部队

出　　处：《电子设计工程》2013年第9期78-81,共4页Electronic Design Engineering

摘　　要：针对目前架空输电线路巡线机器人连续巡线能力低、对大型障碍物越障适应能力弱的问题,提出基于仿生学原理的巡线机器人越障模型。设计两吊臂式巡线机器人,建立机器人的动力学模型,通过调整机器人两个手臂的相对角度和轮爪与障碍物的相对位置,求解模型的周期跨越动作,通过连续的两次摆动,完成了巡线机器人在输电线路上的越障过程。结果表明,当θ1为2.41(rad)时,巡线机器人以静止状态开始摆动,完成了周期的越障的运动过程。文中为巡线机器人的越障问题提供了新的思路和设计方法。Due to the poor ability for striding obstacles of former inspection robots on over head transmission line, a bio- inspired inspection robot model was presented in this paper. Two-ann hanging dynamic model of was built. The periodic striding motion was calculated by adjusting the relative angle of the two arms, and the relative distance between the front hook and obstacle. The striding process contained two separate swinging processes. The results show that, when the robot was started with the initial condition that 0i=2.41 （tad） and the velocity of two arms were 0, the periodic striding motion could be found. This paper provides a new sight and design method for striding obstacles of inspection robot on overhead transmission line.

关 键 词：巡线机器人 两吊臂式 越障 输电线路 

分 类 号：TP311[自动化与计算机技术—计算机软件与理论]