一种新型带柔索双臂式巡检机器人设计  

Design of a Novel Dual-arm Inspection Robot with Flexible Cable

作　　者：房立金[1] 魏永乐[1] 陶广宏[1] 

机构地区：[1]东北大学机械工程与自动化学院,辽宁沈阳110819

出　　处：《机器人》2013年第3期319-325,共7页Robot

基　　金：国家自然科学基金资助项目(60875082)

摘　　要：针对巡检机器人作业任务需求和输电线路障碍环境特点,提出了一种新型双臂式巡检机器人机构,在串联关节型手臂机构中增加了并联柔索.根据机器人的越障机理及线路障碍物类型,给出了机器人的两种典型越障控制流程.仿真分析了典型越障过程中机器人手臂关节的受力状态.结果表明,增加柔索可大幅减小机器人手臂关节的转矩,手臂的刚柔混合设计可提高机器人对线路及障碍环境的适应能力.Based on the working task requirements of inspection robot and the characteristics of obstacles on high voltage transmission lines,a novel dual-arm inspection robot is designed by adding the parallel flexible cable into the series-joints arm. According to the obstacle-crossing mechanism of robot and the types of obstacles on the transmission line,two representative control flows for robot obstacle-crossing are provided.The joints＇ stress states of the robotic arm in representative obstaclecrossing are analyzed by simulation.The simulation results show that the joints＇ torque of the robotic arm with flexible cable can be decreased obviously and the robotic adaptability to the surroundings of the transmission line obstacles can be improved by mixed rigid-flexible arm design.

关 键 词：巡检机器人 双臂 柔索 越障 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]