无配重欠驱动输电线路巡检机器人研究与试验  

No Counterweight Underactuated Cable Inspection Robot Study and Test Quasi-zero Stiffness Isolator

作　　者：张利霞[1] 杨志成[1] 张景胜[1] 

机构地区：[1]北京联合大学电子信息实训基地,北京100101

出　　处：《机械设计与研究》2017年第3期30-34,共5页Machine Design And Research

基　　金：国家自然科学基金资助项目(51578065);北京联合大学新起点计划资助项目(ZK10201504)

摘　　要：配重系统、电机及其传动系统是电缆巡检机器人重量的主要组成部分,其结构复杂、整体重量大,人力将其搬至塔上困难。如采用无配重欠驱动设计,可大幅减轻机器人重量。基于这一设计思想,设计了在重力约束的情况下无配重,且仅用一个滚筒电机就能驱动肩、肘、腕三个关节的欠驱动机器人。结合越障机理对机器人的结构状态进行了研究。为了验证设计的合理性,设计了控制系统和主程序结构图,并结合样机进行越障试验。试验结果表明该机器人能在无配重系统的情况下,保持了机体基本平衡;利用欠驱动控制实现了机器人的平稳越障;达到了减轻机器人自重的目的。Counterweight system and motor drive system is a major part of the weight of the cable inspection robot, is the main cause inspection robot complex structure, large overall weight, the manpower difficulties moved its tower. Such as the use of no counterweight Underactuated designed to significantly reduce the weight of the robot. Based on this design, design constraints in the case of gravity-free weight, and only one will be able to drive the drum motor shoulder, elbow, wrist three joints underactuated robots. Combined with the mechanism of the robot obstacle structures are subjected to mechanical studies. To verify the rationality of the design, the design of the control system and the main structure diagram, combined prototype obstacle test. Experimental results show that the robot can under no circumstances the weight system, maintaining body balance; use less drive control to achieve a smooth obstacle robot; the robot reaches lighten the weight of the object.

关 键 词：欠驱动 无配重 自平衡 重力约束 力学分析 

分 类 号：TH112[机械工程—机械设计及理论]