输电杆塔攀爬机器人运动学分析与仿真  

Kinematics Analysis and Simulation of Tower Climbing Robot

作　　者：耿亚丽 韦佳钰[2] 付渊[2] 鲁守银[1] GENG Yali;WEI Jiayu;FU Yuan;LU Shouyin(Shandong Jianzhu University,Jinan 250101,China;Guiyang Power Supply Bureau,Guiyang 550000,China)

机构地区：[1]山东建筑大学,山东济南250101 [2]贵阳供电局,贵州贵阳550000

出　　处：《山东电力技术》2020年第3期7-14,共8页Shandong Electric Power

基　　金：山东省重大创新工程项目(2017CXGC0905,2017CXGC0918)。

摘　　要：针对首位或末位架空输电线路维护作业人员在登塔或下塔进行安全防护装置挂接或拆除时无法得到安全绳防坠保护的问题,设计了一种输电杆塔攀爬机器人,主要包括仿生攀爬机构和作业机械臂。提出了一种上下对称、左右配合的多自由度上下肢四臂仿生攀爬机构,可模仿猿类爬树时的动作姿势和顺序实现在输电杆塔主材角钢上的攀爬移动;作业机械臂采用六自由度串联多关节机械臂,能够实现安全防坠装置的挂拆操作;基于D-H建模方法,对攀爬机器人攀爬机构和作业机械臂进行了运动学分析,建立了其D-H运动学模型。通过MATLAB仿真软件对攀爬机构和作业机械臂进行了运动轨迹仿真,经过实验室样机杆塔攀爬及安全防坠装置挂拆动作试验,验证了其可行性。The first or last overhead transmission line maintenance worker can not get rope protection when climbing up or down to make connections or to remove the safe protection device.Aiming at the problem,a transmission tower climbing robot is designed in this paper,which mainly includes the bionic climbing mechanism and the working robot arm.A four-arm bionic climbing mechanism with upper and lower symmetry and right and left coordination is proposed,which can simulate the climbing movement of the main steel angle of the transmission tower when imitating the action posture and sequence of the raft climbing.The working robot arm adopts a six-degree-of-freedom series multi-joint robot arm,which can realize the hanging operation of the safety anti-drop device.Based on the D-H modeling method,the kinematics analysis of the climbing robot climbing mechanism and the working robot arm is carried out,and its D-H kinematics model is established.The trajectory simulation of the climbing mechanism and the working robot arm is carried out by MATLAB simulation software.The feasibility of the laboratory prototype tower climbing and safety anti-drop device is tested.

关 键 词：攀爬机构 机械臂 模型 运动学 仿真 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]