架空输电线路巡线机器人越障分析及运动学仿真  

Analysis of crossing obstacle and kinematics simulation for the overhead transmission line inspection robot

作　　者：刘国平[1] 俞振东[1] 缪航[1] 秦科技 LIU Guoping YU Zhendong MIAO Hang QIN Keji(School of Mechanical Engineering, Nanchang University, Nanchang 330031, China)

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）》2017年第1期66-72,共7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：基于目前巡线机器人普遍存在的机构复杂、识障难、越障难等问题,研制了一种新型的三臂巡线机器人。设计了移动型配重,巡线机器人在运行的过程中通过实时调节配重位置提高了巡线机器人的稳定性。采用曲柄滑块机构,解决了前后臂摆动的同步性问题。提出了一种新的识障、越障方式。通过应用D-H法建立了巡线机器人关节坐标系和杆件参数,并在MATLAB环境下对巡线机器人的越障过程进行了仿真建模。通过仿真得到了机器人各关节和越障臂末端在越障过程中的运动参数曲线,验证了巡线机器人各连杆的参数设计的合理性。A new type of three-arm inspection robot was developed based on the problems, such as complex mechanism, difficulty in identifying and crossing obstacles. Additional weight that can be moved was designed, and the stability can be improved by adjusting the counterweight when running. The slider-crank mechanism was adopted to solve the synchronization problem of the swing of the front and back arms. A new identifying and crossing obstacles way was proposed. In this paper, the joint coordinate system and parameters of the inspection robot were established by D - H method, and the process of crossing obstacles was simulated under MATLAB environment. Through the simulation, the joint motion curve and the motion curve of the end of the obstacle arm were obtained, and the rationality of the parameter design was verified.

关 键 词：巡线机器人 移动型配重 曲柄滑块机构 越障 仿真 

分 类 号：TH122[机械工程—机械设计及理论]