双吊臂式架空线路机器人的攀爬机构研究  

Study on Climbing Mechanism of Dual-Arm Robot for Power Line

作　　者：文雪峰[1] 佃松宜[1] 董航[1] 翁桃[1] 田爽[1] 

机构地区：[1]四川大学电气信息学院自动化系,四川成都610065

出　　处：《机械设计与制造》2013年第7期168-170,共3页Machinery Design & Manufacture

摘　　要：吊臂式机构是国内外架空线路巡检机器人采用的主要机构形式之一,但这种机构类型往往存在姿态控制能力差和越障能力弱的局限。针对基于质心调节原理的双吊臂式架空线路机器人的本体机构特点提出了一种新型攀爬机构。从提升机器人姿态控制性能和爬坡性能两方面对攀爬机构进行了原理分析和参数设计,并基于攀爬机构运动学模型的分析提出了机器人姿态失稳监测方法。基于ADAMS软件的仿真结果表明该攀爬机构的设计合理,可显著提升机器人的姿态控制能力和越障能力。Overhead power line inspection robots,which mainly adopt suspension arm mechanism,always perform less capabilities of attitude control and obstacle crossing.For the features of dual-arm mechanism based on the centroid adjustment,a novel structure of climbing mechanism is proposed.The climbing mechanism is analyzed and parameterized from the aspects of capability improvement of attitude control and slope climbing.Based on the kinematic model of climbing mechanism the scheme of attitude monitoring is proposed.The results of simulation based on ADAMS confirm that the climbing mechanism design is reasonable and can improve the capabilities of robot’s attitude control and obstacle crossing.

关 键 词：移动机器人 线路巡检 攀爬机构 姿态控制 质心调节 

分 类 号：TH16[机械工程—机械制造及自动化]