线缆巡线机器人机械结构设计及动力学分析  

Kinematic Analysis and Mechanical Structure Design for a Cable Climbing Robot

作　　者：封尚 章合滛 薛建彬[1] 向光辉[1] 

机构地区：[1]南京航空航天大学机电学院,江苏南京210016

出　　处：《机械与电子》2013年第12期70-74,共5页Machinery & Electronics

摘　　要：设计一种新型的线缆巡线机器人,将被用作移载平台实现线缆健康状态检测。介绍了机器人的机械结构组成,对其在线缆上的爬行动作进行动力学分析,推算出其平稳行走的驱动力条件。在ADAMS仿真软件下验证了运行结果。This paper presents a new cable climbing robot, which is planned to work as a transferplatform to realize cable healthy status inspection. The mechanical structure of the robot is described,the kinematics of crawling activity on a cable is analyzed, and the driving force is calculated for its smoothly running condition. Finally, the resuits are verified by simulation in the ADAMS software.

关 键 词：巡线机器人 移栽平台 力学分析 AD—AMS 

分 类 号：TH112[机械工程—机械设计及理论] TH113