摘要
针对巡检机器人工作任务的需求和高压输电线路障碍物的特点,提出一种由三轴复合转动关节和双轴复合转动关节串联三个杆件组成的新型四臂巡检机器人,机器人可以通过各个关节之间的配合来实现转向越障中的重力平衡.分析了机器人转向越障的重力平衡条件和转向越障的步态,并利用Adams仿真软件对转向越障整体过程进行仿真分析,最后进行了样机的实验.通过对仿真结果和样机实验的分析表明,该巡检机器人具有转向越障的能力,并能够在转向越障中保证重力平衡.
Based on the working task requirements of an inspection robot and the characteristics of obstacles on high voltage transmission lines, a novel four-arm inspection robot was proposed. The robot was composed of three serial poles which were connected by a three-shaft composite rotary joint and a two-shaft composite rotary joint. The robot can meet the requirements of gravity balance by adjusting its joint angle when it steers and crosses obstacles. The gravity balance condition and the postures of steering and obstacle-crossing were analyzed, and the Adams simulation software was used to simulate the whole process of steering and obstacle-crossing. Finally, an experiment of the robot was carried out. The simulations and experiments showed that the inspection robot is able to steer and cross obstacles, and it can keep gravity balance.
作者
房立金
祝帅
贺长林
许继谦
FANG Li-jin;ZHU Shuai;HE Chang-lin;XU Ji-qian(School of Robot Science & Engineering,Northeastern University,Shenyang 110819,China;School of Mechanical Engineering & Automation,Northeastern University,Shenyang 110819,China)
出处
《东北大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2019年第6期825-830,共6页
Journal of Northeastern University(Natural Science)
基金
国家自然科学基金资助项目(51575092)
关键词
巡检机器人
转向越障
重力平衡
仿真
实验
inspection robot
steering and obstacle-crossing
gravity balance
simulation
experiment
