架空输电线巡线机器人耦合动力学建模与仿真分析  

Coupling dynamic modeling and simulation analysis of the overhead transmission line inspection robot

作　　者：付强 吴温翠 张国成 Fu Qiang;Wu Wencui;Zhang Guocheng(Beijing Smartchip Microelectronics Technology Co.,Ltd.,Beijing,100192,China;Tianjin Xinglida Technology Co.,Ltd.,Tianjin,301702,China)

机构地区：[1]北京智芯微电子科技有限公司,北京100192 [2]天津兴利达科技有限公司,天津301702

出　　处：《机械设计与制造工程》2023年第3期34-38,共5页Machine Design and Manufacturing Engineering

摘　　要：为解决巡线机器人在柔性架空输电线上进行移动时会产生耦合振动的问题,基于刚柔耦合动力学,建立了巡线机器人在架空柔性输电线上移动的动力学模型,并使用广义α法对系统方程进行积分求解。仿真结果表明:巡线过程中机器人与输电线会产生耦合振动,不合适的机械臂长度甚至会导致异常振动并造成输电线的弹跳运动;输电线两端安装高度差对系统动力学响应有明显影响。The coupling vibration problem will occur when the inspection robot moves along the flexible overhead transmission line.Based on the rigid-flexible coupling dynamics,it builds the dynamic model of the inspection robot moving along the flexible transmission line,and solves the system equation integrally by the generalizedαmethod.The simulation results show that the coupling vibration occurs between the robot and the transmission line in the process of Inspection,and the improper length of the manipulator arm even leads to an abnormal vibration and causes the bounce of the transmission line.The installation height difference between the two ends of the transmission line has an obvious effect on the dynamic response of the system.The established coupling dynamic model of the inspection robot along the flexible overhead transmission line provides an effective calculation method.The analysis results can also provide theoretical supports for the structural design and control algorithm of the inspection robot.

关 键 词：架空输电线 巡线机器人 动力学建模 耦合振动 弹跳 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]