基于曲柄滑块机构的高压巡线机器人设计  

Design of power transmission lines inspection robot based on slider-crank mechanism

作　　者：秦科技 朱政强[1] 刘国平[1] 孙茂文[1] 

机构地区：[1]南昌大学机电工程学院,江西南昌330031

出　　处：《南昌大学学报（工科版）》2016年第2期173-177,共5页Journal of Nanchang University(Engineering & Technology)

基　　金：江西省科技支撑计划资助项目(00406631100924020)

摘　　要：采用巡检机器人进行高压输电线路巡检。基于偏置式曲柄滑块原理设计的巡检机器人为三臂机构,通过配重和单自由度的曲柄滑块机构来改变三臂的位姿变化,可进行线上行走和越障。通过对模型的运动学和动力学仿真分析,得到机器人的运动特性,该特性与基本理论相符,以及在行走过程中通过测量三臂在线上的受力情况的方法确定配重位置,达到机器稳定运行的目的,该机构具有结构简单、自由度少、容易控制等优点。通过仿真验证了原理的合理性。High voltage power transmission line was inspected by inspection robot. This paper proposed a simple and reliable inspection robot based on the principle of deflection slider-crank. Robot was three arm mechanisms.It can walk online and over obstacle by changing the posture of three arms because of the additional weight and slider-crank mechanism with single degree of freedom. The robot motion characteristics and the optimal displacement of the additional weight position were got through simulation of kinematics and dynamics analysis,and verify the rationality of the principle by getting the forces of three arms. The mechanism has the advantages of simple structure,less freedom,easy control,and so on. The rationality of the principle was verified by simulation.

关 键 词：巡线机器人 曲柄滑块 仿真 越障 

分 类 号：TH122[机械工程—机械设计及理论]