摘要
为了降低输电铁塔维护作业时首位登塔和末位下塔人员的安全风险,设计一种输电铁塔临时防坠保护装置装拆机器人系统;基于仿生攀爬原理设计机器人机械结构,研究机器人攀爬避障控制算法,提出模糊抓持力矩跟踪控制的智能抓持方法,实现防坠保护装置机器人装拆功能。室内与室外模拟输电铁塔环境综合试验结果表明,机器人系统可以高效完成电力杆塔高空攀爬和安全防坠装置挂拆任务。
In order to reduce the safety risk of the first climber and the last climber in the maintenance of transmission tower,a temporary anti-falling protection device assembly robot system for transmission tower was designed.Based on the bionic climbing principle,the mechanical structure of the robot was designed,the obstacle avoidance control algorithm for robot climbing was researched,the intelligent grasping method of the fuzzy grasping moment tracking control was proposed,and the assembly function of the anti-falling protection device robot was realized.The results of indoor and outdoor simulation test of transmission tower environment show that the robot system can efficiently complete the task of high-altitude climbing of power tower as well as hanging and disassembling of safety anti-falling device.
作者
张兴杨
鲁守银
赵洪华
汤承龙
ZHANG Xingyang;LU Shouyin;ZHAO Honghua;TANG Chenglong(College of Information and Electrical Engineering,Shandong Jianzhu University,Jinan 250101,China;School of Mechanical Engineering,University of Jinan,Jinan 250022,China;Shandong Shuaike Machinery Manufacturing Co.,Ltd.,Weifang 261206,China)
出处
《济南大学学报（自然科学版）》
CAS
北大核心
2019年第6期564-571,共8页
Journal of University of Jinan(Science and Technology)
基金
山东省重点研发计划项目(2016GGX4305,2017CXGC1505,2017CXGC0905)
关键词
输电铁塔
临时防坠保护装置
机器人
攀爬
transmission tower
temporary fall protection device
robot
climbing
