一种新型高压输电线路巡检机器人仿生结构

2016 4th International Conference on Applied Robotics for the Power Industry (CARPI) Pub Date : 2016-10-01 DOI:10.1109/CARPI.2016.7745638

Jidai Wang, Xiaochen Liu, Kunpeng Lu, Yi Liu, Jing Zhen

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引用次数: 5

摘要

传统的高压输电线路巡检机器人由于作业空间小，难以跨越排水线路等非直线线段障碍物。本文将灵长类动物的运动特点与现代设计方法和仿生学原理相结合，提出了一种新型的仿生检测机器人结构。提出了基于三臂对称分布及其跨越电力线上各种障碍物模拟灵长类动物悬摆运动的机构模型。利用ADAMS软件对机器人越障过程进行了仿真分析，验证了仿生机构的合理性和稳定性。最后，制作了机器人的原理模型和虚拟样机，并在实际电力线上进行了测试。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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A new bionic structure of inspection robot for high voltage transmission line

Traditional inspection robot for high voltage transmission line robot is hard to cross the drainage line and other non straight line segment obstacle because of the small operation space. A new bionic structure of the inspection robot is proposed in this paper, which is combined the motion characteristics of primates with the modern design method and the principle of bionics. The mechanism model based on the three arms with symmetrical distributed and its crossing various obstacles on power line simulating to primates suspension pendulum movement are presented. The robot operation of crossing obstacle process is simulated and analyze with ADAMS software, thus the rationality and stability of the bionic mechanism are verified. Finally, the principle model and virtual prototype of robot are manufactured and testing on the practical power line.

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来源期刊

2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)

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