高压输电线路机器人防滑挂线轮毂的H型3D打印装置的研究  

Research on H-type 3D printing device for anti-skid thread hanging hub of high voltage transmission line robot

作　　者：张立军[1] 马哲 王钰文 张晓东[3] 贺庆强[1] 王智伟[4] 王吉岱[4] 马龙 王晓强 李明 ZHANG Lijun;MA Zhe;WANG Yuwen;ZHANG Xiaodong;HE Qingqiang;WANG Zhiwei;WANG Jidai;MA Long;WANG Xiaoqiang;LI Ming(College of Mechanical and Electronic Engineering,China University of Petroleum(East China),Qingdao 266580,China;College of Agriculture and Forestry Science and Technology,Hebei North University,Zhangjiakou 075000,China;College of Computer Science and Technology,China University of Petroleum(East China),Qingdao 266580,China;School of Mechanical and Electronic Engineering,Shandong University of Science and Technology,Qingdao 266590,China;Jiangsu Power Transmission and Transformation Co.,Ltd.,Nanjing 211102,China)

机构地区：[1]中国石油大学(华东)机电工程学院,青岛266580 [2]河北北方学院农林科技学院,张家口075000 [3]中国石油大学(华东)计算机科学与技术学院,青岛266580 [4]山东科技大学机械电子工程学院,青岛266590 [5]江苏省送变电有限公司,南京211102

出　　处：《现代制造工程》2023年第6期20-25,84,共7页Modern Manufacturing Engineering

基　　金：国网江苏省电力公司科技资助项目(J2021140)。

摘　　要：针对目前桌面级3D打印机存在打印速度慢、打印精度低的问题,提出并设计了高压输电线路机器人防滑挂线轮毂的H型结构3D打印机。通过对3D打印机结构建模与运动学分析,建立了其数学模型,推导出其逆运动学方程;提出了H型结构3D打印机的控制算法,运用PID控制调节系统的输入信号和输出信号的误差,获得了3D打印机的稳定工作模式。试验结果表明,提出的H型结构的3D打印机的打印精度高于目前常见Prusa I3型结构,能够实现快速平稳打印,打印速度提高20%左右,末端执行器在80 mm/s速度下仍能平稳工作,且运动轨迹理想,应用前景好。Aiming at the problems of slow printing speed and low printing precision in the current desktop 3D printer,an H-type structure 3D printer based on parallel mechanism for anti-skid thread hanging hub of high voltage transmission line robot was proposed and designed.By analyzing the mechanism modeling and kinematics,the mathematical model was established,then the inverse kinematics equation was deduced;the algorithm of H-type structure 3D printer was put forward.A stable mode of 3D printer was obtained by adjusting the offset of the input and output signal of the system using PID control system.The contrast printing experimental results show that the printing accuracy of H-type structure 3D printer is higher than that of Prusa I33D printer.It works fast and carries out smooth printing,the printing speed is increased by about 20%,end effector can move smoothly under the speed of 80 mm/s,the motion trajectory is ideal,and the application prospect is good.

关 键 词：输电线路机器人 3D打印 H型结构 防滑挂线轮毂 PID控制 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]