输电线路除冰机器人关键部件的设计与动力学仿真  

Design and Dynamics Simulation of the Key Components of De-icing Robot of Power Transmission Line

作　　者：张屹[1] 韩俊[1,2] 

机构地区：[1]三峡大学水电机械设备设计与维护湖北省重点实验室,湖北宜昌443002 [2]中国水电顾问集团贵阳勘测设计研究院,贵州贵阳550002

出　　处：《机械传动》2014年第1期82-86,共5页Journal of Mechanical Transmission

摘　　要：以大倾角输电导线上的绝缘子作为越障对象,对除冰机器人的行走越障进行可行性分析,并对除冰机器人的关键部件进行优化设计,采用Pro/E建立除冰机器人的三维模型,并将模型导入ADAMS中进行动力学仿真分析,仿真结果为机器人各关节的动力参数优化提供了理论依据。通过样机试验表明除冰机器人能够在大倾角导线上行走并成功跨越绝缘子。The insulator on the transmission line with a big slope is regarded as obstacles, the feasibility of the de--icing robot going across the obstacles is analyzed, and the key components of the de --icing robot are designed. By using Pro/E, the 3D model of the robot is built, and it is imported into the ADAMS for dynamics simulation analysis, and the results provide a basics to optimize the power parameters of the robot. Finally, the de--icing robot can successfully walk on the transmission line with a big slope and go across the insulators by prototype testing.

关 键 词：输电线路 除冰机器人 大倾角 动力学仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]