机械动力学:0-0
引用本文:
魏永乐, 房立金, 陶广宏. 新型双臂巡线机器人越障过程受力分析[J]. 机械科学与技术
Wei Yongle, Fang Lijin, Tao Guanghong. The Mechanical Analysis on the Crossing Obstacle Process of New-type Dual-arms Inspection Robot[J]. Journal Of Remote Sensing

新型双臂巡线机器人越障过程受力分析
魏永乐1,2, 房立金1, 陶广宏1
1. 东北大学机械工程与自动化学院, 沈阳 110819;
2. 辽宁工程技术大学机械工程学院, 阜新 123000
摘要:
巡线机器人越障机构的设计是影响巡线机器人应用的关键技术,新型双臂式高压输电线路巡线机器人的手臂采用了旋转关节并联柔索的复合结构。介绍了巡线机器人的基本结构及相关参数,根据机器人越障机理将其划分为6个主要阶段,建立了每个阶段机器人手臂各关节及柔索的力学模型。通过计算机仿真分析,给出了机器人越障过程中双臂各关节的转矩曲线以及柔索的拉力曲线,结果显示越障过程中双臂各关节的转矩很小,机器人的重量主要由柔索承担,越障过程中力的变化较为平稳。
关键词:    机器人    复合结构    柔索    越障    计算机仿真   
The Mechanical Analysis on the Crossing Obstacle Process of New-type Dual-arms Inspection Robot
Wei Yongle1,2, Fang Lijin1, Tao Guanghong1
1. School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819;
2. College of Mechanical Engineering, Liaoning Technical University, Fuxin 123000
Abstract:
The crossing obstacle mechanism design of inspection robot is one of the key technologies affecting the application of inspection robot. The composite structure of rotating joint in parallel flexible-cable is adopted in the arm of new-type dual-arms high voltage transmission line inspection robot. The structure and parameters of inspection robot are introduced. According to the crossing obstacle mechanism of robot,the process that the robot crosses obstacle can be divided into six stages,and the mechanical models of each joint and the flexible-cable of robotic arm in each stage are established. Through the computer simulation,the torque curve of each joint and the stress curve of the flexible-cable are obtained. The simulation results show that the torque is little of each joint,the gravity of robot is mainly supported by the flexible-cables and the flexible-cable stresses change smoothly during the robot crossing obstacle.
Key words:    composite structure    computer simulation    crossing obstacle    flexible-cable    inspection    mathematical models    mechanical analysis    robots   
收稿日期: 2012-12-19     修回日期:
DOI: 10.13433/j.cnki.1003-8728.2014.0801
基金项目: 国家自然科学基金项目(60875082)资助
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作者简介: 魏永乐(1978-),讲师,博士研究生,研究方向为机械CAD/CAM、机器人动力学,weiyongle126@126.com;房立金(联系人),教授,博士,ljfang@me.neu.edu.cn
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