耐张串喷涂机器人结构设计与仿真  

Structure design and simulation of tensile string spraying robot

作　　者：陈智元 高琦[1,2] 杜宗展[3] Chen Zhiyuan;Gao Qi;Du Zongzhan(School of Mechanical Engineering,Shandong University,Shandong Jinan,250061,China;Key Laboratory of High Efficient and Clean Machinery Manufacturing of Ministry of Education,Shandong Jinan,250061,China;School of Electrical Engineering,Shandong University,Shandong Jinan,250061,China)

机构地区：[1]山东大学机械工程学院,山东济南250061 [2]高效洁净机械制造教育部重点实验室,山东济南250061 [3]山东大学电气工程学院,山东济南250061

出　　处：《机械设计与制造工程》2024年第9期73-77,共5页Machine Design and Manufacturing Engineering

基　　金：山东省自然科学基金(ZR2020ME139)。

摘　　要：当前架空高压输电线路中耐张串的维养喷涂作业基本上是由工人在高空完成作业,效率低下并且存在安全隐患,为此设计了一种耐张串喷涂机器人。机器人采用三臂交替步进式行走机构,依据其各个关节臂的尺寸参数建立了D-H参数方程,计算了以喷涂机构为基坐标系到其前后端夹爪的变换矩阵方程;同时使用ADAMS进行虚拟样机运动学仿真,通过施加约束和运动函数,模拟了喷涂机器人在实际工况下作业生成的运动轨迹,结果表明该喷涂机器人可以适应耐张串本体的弧形变化,可在高压输电线路中实现对耐张串的喷涂作业。At present,the maintenance spraying of tensioning string in overhead high-voltage transmission lines is basically done by workers at high altitude,which is inefficient and has potential security risks.Based on this,a tensioning series spraying robot is designed,which adopts a three-arm alternating step walking mechanism.The D-H parametric equations are established according to the dimension parameters of each joint arm,and the parametric equations from the spraying mechanism as the base coordinate system to the front and rear ends of the claws are calculated.At the same time,the virtual prototype kinematics simulation is carried out by ADAMS.By applying constraints and motion functions,the motion trajectory generated by the spraying robot under actual working conditions is simulated.The results show that the spraying robot can adapt to the arc changes of the tension-resistant string body,and realize the spraying operation of tension-resistant string in the high-voltage transmission road.

关 键 词：耐张串 喷涂机器人 带电作业 ADAMS 运动学仿真 

分 类 号：TG333[金属学及工艺—金属压力加工]