电缆隧道巡检机器人行走机构的仿真研究  

Simulation research on walking mechanism of cable tunnel inspection robot

作　　者：姜涛[1] 葛少伟[1] 李德泉[1] 牟泽刚 孟庆瑞[1] JIANG Tao;GE Shaowei;LI Dequan;MU Zegang;MENG Qingrui(State Grid Jinan Power Company,Jinan Shandong ,250000)

机构地区：[1]国网济南供电公司

出　　处：《自动化与仪器仪表》2018年第12期68-71,共4页Automation & Instrumentation

摘　　要：随着机器人领域技术的不断完善,行走模式的机器人开始出现。因为城市地下电缆隧道的建设,人工进行电缆检查比较困难,所以,人们开始利用行走机构的巡检机器人代替人工检测。这种巡检机器人对于电缆隧道工作适应力强,能够随时进行城市地下电缆隧道的检测。本文将会针对这种巡检移动机器人的工作和特点进行机构运动学的仿真分析。在Pro/E软件中进行行走机构机器人结构模型建立,介绍该机器人的行走机构特点。with the continuous improvement of robot technology ,walking robots begin to appear.Because of the construction of underground cable tunnel in the city,it is difficult to inspect the cable artificially.So,people begin to use the inspection robot of the walking mechanism instead of manual inspection.The inspection robot is adaptable to the cable tunnel and can detect the underground cable tunnel at any time.In this paper,the kinematics and simulation analysis of the mobile robot's work and characteristics will be carried out.In the Pro/E software,a walking mechanism robot structure model is established,and the walking mechanism characteristics of the robot are introduced.

关 键 词：电缆隧道 巡检机器人 行走机构 仿真 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]