新型电缆沟巡检机器人系统设计与爬坡性能研究  

Design of new type of cable trench inspection robot system and research on slope climbing performance

作　　者：陈林兵 孙丙宇 CHEN Linbing;SUN Bingyu(School of Artificial Intelligence,Anhui University of Science and Technology,Huainan 232000,China;Chinese Academy of Sciences Hefei Institute of Intelligent Machinery,Hefei 230031,China)

机构地区：[1]安徽理工大学人工智能学院,安徽淮南232000 [2]中国科学院合肥智能机械研究所,安徽合肥230031

出　　处：《传感器与微系统》2025年第2期44-47,共4页Transducer and Microsystem Technologies

摘　　要：针对现有电缆沟巡检机器人巡检和维修时因通过性不高而无法实现智能化、自主化和长距离巡检等问题,设计并研制了一种具备高通过性、高自主性,并能够进行连续作业的电缆沟巡检机器人。为此,通过数学建模对巡检机器人的稳定性进行了研究,得到了表征机器人稳定性的数学模型,为分析机器人的爬坡能力,建立了整机质心运动学模型,得到了机器人姿态与质心坐标的关系,并进行多体动力学仿真实验,获得不同姿态下机器人爬坡的质心位置变化曲线和质心纵向加速度曲线,明确了该机器人的最佳爬坡姿态。Aiming at the problems that the existing cable trench inspection robot cannot realize intelligent,autonomous and long-distance inspection due to its low passability during inspection and maintenance,a cable trench inspection robot with high passability,high autonomy and continuous operation is designed and developed.Therefore,the stability of the inspection robot is studied through mathematical modeling,and a mathematical model representing the stability of the robot is obtained.In order to analyze the climbing ability of the robot,a kinematics model of the center of mass of the whole machine is established,and the relationship between the robot attitude and the center of mass coordinates is obtained.The position change curve of the center of mass and the longitudinal acceleration curve of the center of mass under different attitudes are obtained by multi-body dynamics simulation experiment,and the optimal slope climbing attitude of the robot is determined.

关 键 词：电缆沟巡检机器人 姿态规划 爬坡性能 动力学模型 质心 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]