电网爬杆机器人结构设计及精度控制策略研究  

Research on Structure Design and Precision Control Strategy of Power Grid Pole Climbing Robot

作　　者：王琦 WANG Qi(Zhengzhou Institute of Industrial Application Technology,He'nan Zhengzhou 451100,China)

机构地区：[1]郑州工业应用技术学院,河南郑州451100

出　　处：《机械设计与制造》2024年第11期328-334,共7页Machinery Design & Manufacture

基　　金：河南省2021年教育部产学合作协同育人项目(202102213042):机械零部件测绘实训评价平台的建设。

摘　　要：为替换人类执行高空作业,这里设计了一种电网爬杆机器人,并提出了爬杆精度控制策略。首先针对电网爬杆机器人结构模型,建立了机器人Denavit-Hartenberg模型,分析了其逆运动学解。在电网爬杆机器人上安装了三轴加速度计以实时测量俯仰角和滚转角,并将其作为比例-积分-导数算法的反馈输入信号。根据Ziegler-Nichols控制器,得到比例-积分-微分控制方法中的KP、KI和KD参数。通过爬杆机器人样机实验,测试了机器人工作性能,表明所提出的控制策略能有效实现爬杆机器人可控步幅的自动连续爬升,且减小了由舵机驱动的五杆机构的角速度波动。同时对比了其他典型爬杆机器人,验证了所提爬杆机器人的性能优势。In order to replace human beings to perform aerial work,this paper designs a power grid pole climbing robot and proposes a pole climbing accuracy control strategy.Firstly,the Denavit-Hartenberg model of the power grid pole climbing robot is established,and its inverse kinematics solution is analyzed.A three-axis accelerometer is installed on the power grid climbing robot to measure the pitch angle and roll angle in real time,and it is used as the feedback input signal of the proportional integral derivative algorithm.According to Ziegler Nichols controller,the KP,KI and KD parameters in the proportional integral differential control method are obtained.The working performance of the robot is tested through the prototype experiment of the pole climbing robot,which shows that the proposed control strategy can effectively realize the automatic and continuous climbing of the pole climbing robot with controllable stride,and reduce the angular velocity fluctuation of the five-bar mechanism driven by the steering gear.At the same time,the performance advantages of the proposed pole climbing robot are verified by comparing with other typical pole climbing robots.

关 键 词：爬杆机器人 运动学模型 步态运动 PID控制 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.2[自动化与计算机技术—检测技术与自动化装置]