摘要
为提高串联式输电线巡检机器人越障性能,针对其偏转关节运动范围受限问题,提出一种新型复合偏转关节。首先给出复合偏转关节构型,设计出具体结构;其次建立基于新型关节的机器人运动学模型;最后利用蒙特卡洛法进行基于两种关节的机器人工作空间仿真,并进行了对比分析。结果表明,采用新型关节可明显增加偏转角度及工作空间,进一步提升串联式输电线巡检机器人运动性能。
In order to improve the obstacle surmounting performance of the serial transmission line inspection robot,a new type of deflection structure is proposed to solve the problem of limited motion range.Firstly,the overall structure of the structure is given,and the specific structure is designed.Secondly,the kinematics model of the robot based on the new joint is established.Finally,the Monte Carlo method is used to simulate the workspace of the robot based on the two joints,and the comparative analysis is made.The results show that the new joint can significantly increase the deflection angle and workspace,and further improve the motion performance of the serial transmission line inspection robot.
作者
王春华
刘子靖
陶广宏
Wang Chunhua;Liu Zijing;Tao Guanghong(College of Mechanical and Electrical Engineering,Shenyang Aerospace University,Liaoning Shenyang,110136,China)
出处
《机械设计与制造工程》
2023年第3期43-48,共6页
Machine Design and Manufacturing Engineering
基金
辽宁省自然科学基金资助项目(2019-ZD-0244)
辽宁省教育厅青年科技人才育苗计划项目(JYT19031)
沈阳航空航天大学引进人才科研启动基金资助项目(18YB62)。
关键词
输电线路
巡检机器人
结构设计
运动学模型
工作空间
transmission line
inspection robot
structural design
kinematics model
workspace
