电力巡线便道四足清障机器人步态规划与仿真  

Gait Planning and Simulation of Quadruped Clearance Robot for Power Line Patrol Sidewalk

作　　者：林先晶 江维 于俊康 邹德华 LIN Xianjing;JIANG Wei;YU Junkang;ZOU Dehua(School of Mechanical Engineering and Automation,Wuhan Textile University,Wuhan 430073,China;Hunan Province Key Laboratory of Intelligent Live Working Technology and Equipment(ROBOT)(State Grid Hunan Ultra-High Voltage Transmission Company),Changsha 420100,China;Live Inspection and Intelligent Operation Technology State Grid Corporation Laboratory(State Grid Hunan Ultra-High Voltage Transmission Company),Changsha 420100,China)

机构地区：[1]武汉纺织大学机械工程与自动化学院,湖北武汉430073 [2]智能带电作业技术及装备(机器人)湖南省重点室实验(国网湖南省电力有限公司超高压输电公司),湖南长沙420100 [3]带电巡检与智能作业技术国家电网公司实验室(国网湖南省电力有限公司超高压输电公司),湖南长沙420100

出　　处：《电力科学与工程》2024年第8期47-53,共7页Electric Power Science and Engineering

基　　金：2024年武汉纺织大学研究生创新基金——产研结合协同育人项目(2024C24)。

摘　　要：针对传统轮式、履带式清障机器人无法克服复杂地形的问题,提出了一种基于四足机器人的巡线便道清障机器人。对作业环境与作业任务要求进行了分析,结合分析结果设计了巡线便道四足清障机器人的虚拟样机模型。针对越障、爬坡、台阶攀登这3种复杂工况对机器人进行步态规划,利用四足机器人单腿运动学模型与动力学模型推导了运动关节的参数。仿真结果表明,此四足清障机器人在上述3种工况下可以稳定运行。To address the issue that traditional wheeled and tracked clearing robots cannot overcome complex terrains,a patrol line sidewalk clearance robot based on quadruped robot is proposed.The operating environment and task requirements are analyzed,and based on the analysis results,a virtual prototype model of the patrol line sidewalk clearance quadruped robot is designed.The robot’s gait planning is carried out for three complex working conditions:obstacle crossing,climbing,and step climbing.The motion joint parameters are derived using the single-legged kinematic model and the dynamic model of the quadruped robot.The simulation results show that this quadruped clearance robot can operate stably under the three mentioned working conditions.

关 键 词：巡线便道清障 四足机器人 虚拟样机模型 步态规划 动力学仿真 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]