一种异物清除作业机器人机构的优化设计  

Optimization Design of Robot Mechanism for Removing Foreign Matters

作　　者：王颂 李锐海 刘旭 景凤仁[2,3] 刘爱华 WANG Song;LI Ruihai;LIU Xu;JING Fengren;LIU Aihua(CSG Electric Power Research Institute Co.,Ltd.,Guangzhou,Guangdong 510663,China;Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang,Liaoning 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang,Liaoning 110169,China)

机构地区：[1]南方电网科学研究院有限责任公司,广东广州510663 [2]中国科学院沈阳自动化研究所,辽宁沈阳110016 [3]中国科学院机器人与智能制造创新研究院,辽宁沈阳110169

出　　处：《广东电力》2021年第1期121-126,共6页Guangdong Electric Power

基　　金：中国南方电网有限责任公司科技项目(ZBKJXM20170085)。

摘　　要：针对输电线路的作业环境和异物清除的作业特点,提出一种适用于输电线路异物清除作业的机器人机构优化设计。该机器人机构包括机器人移动本体和作业工具,作业工具包括电热清除工具及电锯清除工具,可实现对输电线路上的可燃性和可切割性异物的清除作业。建立机器人的运动学模型,仿真分析电锯清除作业和电热清除作业的过程,对机器人样机系统进行优化设计。相关实验结果验证了该机器人系统具备在输电线路上清除可燃性或可切割性异物的功能。According to the working environment of transmission lines and the operation characteristics of foreign matter removal,this paper proposes an optimization design of a robot mechanism for removing foreign matters suitable for the transmission lines.The robot system consists of a robot body and the working tools.The working tools include electric saw cleaning tools and electric heating cleaning tools,which can remove combustible and cuttable foreign matters on the transmission lines.By building a kinematics model of the robot,it makes simulation analysis on the process of electric saw cleaning and electric heating cleaning,and carries out the optimization design of the robot prototype system.The simulation results show that the design of the robot system has the functions of electric saw cleaning operation and electric heating cleaning operation for the transmission lines.

关 键 词：异物清除 机器人 运动学 仿真分析 

分 类 号：TM75[电气工程—电力系统及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]