机器人俯仰关节能耗特性分析  

Energy Consumption Characteristics Analysis on a Robot Pitching Joint

作　　者：陶广宏 耿世雄 姜春英 叶长龙 TAO Guanghong;GENG Shixiong;JIANG Chunying;YE Changlong(School of Mechatronics Engineering,Shenyang Aerospace University,Shenyang 110136,China)

机构地区：[1]沈阳航空航天大学机电工程学院,辽宁沈阳110136

出　　处：《机器人》2022年第4期484-493,共10页Robot

基　　金：国家自然科学基金(52005348);辽宁省自然科学基金(2019ZD0244,2019KF0111).

摘　　要：以降低架空线移动机器人能耗为目标,从结构设计角度出发提出一种基于平行四边形机构的机器人俯仰关节,由单电机配合柔索驱动。首先,在考虑摩擦因素的情况下进行了关节受力及能耗分析,分别给出本文关节与传统俯仰关节的能耗计算方法。再分别就多单元串联式机器人俯仰运动、以及架空线移动机器人越障运动的能耗特性,进行了本文关节和传统俯仰关节之间的对比。仿真分析得出基于所提关节的机器人完成特定架空线越障动作可节能39.4%。通过自行搭建的关节样机进行了实验,不同负载位置下的关节驱动电流均值之间的差小于0.7 mA。结果表明,摩擦能耗对关节驱动总能耗的影响微小,关节驱动负载做俯仰动作的运动能耗仅与关节本体及负载等效作用于关节本体的重力相关。所设计关节具有低能耗特性,且负载至关节本体的距离越远,相对于传统俯仰关节的低能耗效果越明显。In order to reduce energy consumption of the robot moving on the overhead line,a robot pitching joint based on parallelogram mechanism is proposed from the perspective of structure design,which is driven by a motor and flexible cables.Firstly,the joint force and energy consumption analysis is executed concerning the friction factor.The energy consumption calculating methods of the proposed joints and the traditional joints are separately presented.Then,the energy consumption characteristics are analyzed comparatively between the proposed joints and the traditional joints,in aspects of the pitching motion of multi-unit serial robots,and the obstacle-crossing motion of a robot moving on the overhead line.The simulation analysis shows that the robot based on the proposed joint can save 39.4% energy when completing the obstacle crossing action on an overhead line.Experiments are carried out on the self-built joint prototype,and the average difference of joint driving current in different load positions is less than 0.7 mA.The simulation and experimental results show that the friction energy consumption has a tiny influence on the total joint driving energy consumption,and the motion energy consumption for the joint to drive a load in pitching actions is only related to the equivalent gravity acting on the joint structure from the joint itself and the load.The designed joint has a characteristic of low energy consumption,and the farther the distance between the load and joint itself is,the more obvious the energy saving effect is,compared with the traditional pitching joint.

关 键 词：俯仰关节 低能耗 平行四边形机构 架空线移动 电力线路巡检机器人 柔索驱动 越障运动 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]