摘要
针对四分裂输电线路除冰作业任务,提出了一种能够适应多分裂输电线路行走和作业的四轮移动机器人机构构型及其末端工具,通过拉格朗日法推导并建立机械臂的动力学模型,基于该动力学模型在ADAMS中对机器人的动力学特性进行仿真研究,结果表明,本文所提出的机器人机构能够完成四分裂除冰作业,同时机器人各关节的运动满足作业过程中驱动力矩的要求,避免了机器人关节力矩驱动力不足和驱动力过大等造成的机器人系统作业故障和作业失败的发生,最后,通过实验验证了本文所提出机械构型和动力学模型的工程实用性。通过本文的研究,对于输电线路移动机器人机械结构参数优化和电气控制参数优化具有双重重要的理论意义和实际应用价值。
This article proposes a four-wheel mobile robot mechanism configuration and its end tool that can adapt to the walking and operation of multi-split transmission lines for the deicing task of the four-split transmission line.A dynamic model of the robotic arm is established.Based on this dynamic model,the dynamic characteristics of the robot are simulated in ADAMS.The results show that the robot mechanism proposed in this paper can complete the four-split deicing,and the robot joints motion of the robot meets the requirements of the driving torque during the operation process,and avoids the robot system operation failur e and operation failure caused by insufficient driving force of the robot joint torque and excessive driving force.Finally,the mechanical configuration proposed in this paper is verified by the experiment.And the engineering practicality of the kinetic model.Through the research of this article,it has dual important theoretical significance and practical application value for the optimization of mechanical structure parameters and electrical control parameters of mobile robots on transmission lines.
作者
邝江华
邹德华
刘兰兰
张安
江维
KUANG Jiang-hua;ZOU De-hua;LIU Lan-lan;ZHANG An;JIANG Wei(Live Inspection and Intelligent Operation Technology State Grid Corporation Laboratory(State Grid Hunan Transmission Maintenance Company),Changsha Hunan 410100,China;Hunan Province Key Laboratory of Intelligent Live Working Technology and Equipment(ROBOT)(State Grid Hunan Transmission Maintenance Company),Changsha Hunan 410100,China;School of Mechanical Engineering and Automation,Wuhan Textile University,Wuhan Hubei 430200,China)
出处
《武汉纺织大学学报》
2021年第5期33-39,共7页
Journal of Wuhan Textile University
基金
国网湖南省电力有限公司科技项目(5216AJ20000T)。
关键词
多分裂线路
移动机器人
机械构型
动力学特性
除冰作业
multi-split line
mobile robot
mechanical configuration
motion characteristics
deicing operation
