新型双臂巡线机器人越障过程受力分析  

The Mechanical Analysis on the Crossing Obstacle Process of New-type Dual-arms Inspection Robot

作　　者：魏永乐[1,2] 房立金[1] 陶广宏[1] 

机构地区：[1]东北大学机械工程与自动化学院,沈阳110819 [2]辽宁工程技术大学机械工程学院,阜新123000

出　　处：《机械科学与技术》2014年第8期1117-1121,共5页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(60875082)资助

摘　　要：巡线机器人越障机构的设计是影响巡线机器人应用的关键技术,新型双臂式高压输电线路巡线机器人的手臂采用了旋转关节并联柔索的复合结构。介绍了巡线机器人的基本结构及相关参数,根据机器人越障机理将其划分为6个主要阶段,建立了每个阶段机器人手臂各关节及柔索的力学模型。通过计算机仿真分析,给出了机器人越障过程中双臂各关节的转矩曲线以及柔索的拉力曲线,结果显示越障过程中双臂各关节的转矩很小,机器人的重量主要由柔索承担,越障过程中力的变化较为平稳。The crossing obstacle mechanism design of inspection robot is one of the key technologies affecting the application of inspection robot. The composite structure of rotating joint in parallel flexible-cable is adopted in the arm of new-type dual-arms high voltage transmission line inspection robot. The structure and parameters of inspection robot are introduced. According to the crossing obstacle mechanism of robot, the process that the robot crosses obstacle can be divided into six stages, and the mechanical models of each joint and the flexible-cable of robotic arm in each stage are established. Through the computer simulation, the torque curve of each joint and the stress curve of the flexible-cable are obtained. The simulation results show that the torque is little of each joint, gravity of robot is mainly supported by the flexible-cables and the flexible-cable stresses change smoothly during robot crossing obstacle. the the

关 键 词：机器人 复合结构 柔索 越障 计算机仿真 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]