摘要
移动越障机构是输电线路移动机器人的基础,也是目前制约线路移动机器人发展的技术障碍之一。采用SolidWorks三维建模软件和ADAMS动力学仿真分析软件在虚拟环境中建立双臂移动机器人的仿真模型。通过避障路径规划生成运动仿真数据,在ADAMS虚拟环境中实现双臂移动机器人的稳定越障。仿真结果表明:双臂移动机器人的两臂交错滑移结构设计能够满足行走要求,且避障路径规划方法可行,仿真数据可为下一步双臂移动机器人物理样机的研制提供理论参考。
The mobile obstacle-crossing mechanism is the fundamental of the robot for inspection of transmission lines,and is one of the technical hurdles restricting the development of lines mobile robot at present.Based on 3D modelling software SolidWorks and dynamics simulation analysis software ADAMS,a simulation model of dual-arm mobile robot is established in virtual environment.Through the obstacle-avoidance path planning method,the kinematic simulation data is generated,and in ADAMS virtual environment the stable obstacle-crossing by the dual-arm mobile robot is achieved.Simulation results indicate that the design of dual-arm crisscross sliding structure can meet the walking requirements,and the method of obstacle-avoidance path planning is feasible,the simulation data can be used as reference for further research and development of physical prototype of the dual-arm robot.
出处
《计算机应用与软件》
CSCD
北大核心
2012年第4期220-223,228,共5页
Computer Applications and Software
关键词
输电线路
移动机器人
越障
运动学分析
Transmission lines Mobile robot Obstacle-crossing Kinematics analysis
