GIS内壁检测的四足爬壁机器人运动学分析  

Kinematics Analysis of Quadruped Climbing Robot Based on GIS Inner Wall Detection

作　　者：张铁[1] 吴骄任 蔡蒂 吴凌峰 ZHANG Tie;WU Jiao-ren;CAI Di;WU Ling-feng(School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510640,China;Guangzhou Power Supply Bureau Co.,Ltd.,Guangzhou 510620,China)

机构地区：[1]华南理工大学机械与汽车工程学院,广州510640 [2]广州供电局有限公司,广州510620

出　　处：《组合机床与自动化加工技术》2021年第6期6-10,16,共6页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：广东省科技计划项目(2019B040402006);气体绝缘金属封闭开关内部检测壁虎机器人研发及应用(GZHKJXM20170068)。

摘　　要：设计了一种用于气体绝缘金属封闭开关(GIS)内部检测的四足爬壁管道机器人,并对其进行运动学分析。为准确描述机器人在管道中的位置,提出了位姿参数的概念,并确定了机器人起始位姿;建立了机器人的单腿运动学模型,并求解得到单腿运动学正逆解;为了避免足端在运动中与壁面碰撞,分别对机器人进行直线、曲线轨迹规划和实验。实验结果证明,运动轨迹的平均体积误差分别为1.03 mm和1.14 mm,误差较小,运动学模型精度较高。A four-legged climbing robot in pipeline for internal inspection of gas-insulated metal-enclosed switches(GIS)is designed,and its kinematics is analyzed.In order to accurately describe the position of the robot in the pipeline,the concept of pose parameters is proposed,and the initial pose of the robot is determined.The single-leg kinematics model of the robot is established,and the single-leg kinematics forward and inverse solution is obtained.In order to avoid the collision of the foot end with the wall surface during the movement,the robot trajectory is planned and the experimented is conducted with a straight line and a curved.The experimental results prove that the average volume error of the motion trajectory is 1.03 mm and 1.14 mm respectively,the error is small,and the kinematics model has high accuracy.

关 键 词：GIS开关内壁检测 爬壁机器人 运动学 轨迹 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]