双臂巡检机器人越障能力分析  

Analysis for Crossing Obstacle Distance of 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,辽宁沈阳110819 [2]辽宁工程技术大学机械工程学院,辽宁阜新123000

出　　处：《东北大学学报（自然科学版）》2017年第9期1293-1297,共5页Journal of Northeastern University(Natural Science)

基　　金：国家自然科学基金资助项目(51575092);辽宁省高等学校创新团队项目(LT2014006)

摘　　要：研究了手臂固定式、手臂移动式和带柔索式三种类型双臂巡检机器人的越障能力,通过理论分析建立了三种类型双臂巡检机器人相应的越障能力数学模型,在设定基本相同的质量参数和结构参数前提下,计算得到了三种类型巡检机器人在不同线路坡度下的最大越障距离.计算结果表明:带柔索双臂巡检机器人的手臂结构运动更为灵活,机器人越障能力更大,且越障距离可根据障碍物大小自由调节,因此带柔索双臂巡检机器人的结构设计具有明显优势,更易实现机器人轻量化设计.The crossing obstacle distance of three type dual-arms inspection robots, including arms fixed robot, arms mobile robot and robot with flexible cable, was investigated. The mathematical models were established for the crossing obstacle distance of the three type dual-arms inspection robots by theoretical analysis. Under similar values of the quality and dimensions, the max crossing obstacle distance of the three type robots were calculated based on the different gradients of the transmission line. The results show that the arm movements of dual-arms inspection robot with flexible cable are more flexible with a larger crossing obstacle distance, which can be regulated by the obstacle size. Thus,the dual-arms inspection robot with flexible cable has obvious advantages in realizing lightweight structure design.

关 键 词：巡检机器人 质心调节 双臂 越障距离 柔索 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]