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输电线路巡检机器人越障仿真分析 被引量:6
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作者 岳湘 来佑彬 +1 位作者 朱正国 刘国伟 《机械设计与制造》 北大核心 2019年第A01期146-149,共4页
根据输电线路线路环境的约束条件和巡检任务的要求,提出了一种新型输电线检测与维护机器人机构。首先进行了机器人的构型综合,得到机器人的两种越障模式,运用两种越障模式规划了机器人跨越典型障碍物的运动序列。机器人通过仿生猿猴手... 根据输电线路线路环境的约束条件和巡检任务的要求,提出了一种新型输电线检测与维护机器人机构。首先进行了机器人的构型综合,得到机器人的两种越障模式,运用两种越障模式规划了机器人跨越典型障碍物的运动序列。机器人通过仿生猿猴手臂跨越障碍物,质心调节机构保障了机器人越障过程中的稳定性。仿真分析了不同工况下机器人跨越引流线的过程并进行了相关的实验,仿真与实验结果表明机器人能够完成引流线的跨越,合理的引流线越障规划降低了引流线的变形,提高了机器人的越障效率。 展开更多
关键词 巡检机器人 越障规划 仿真 引流线
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Ideal proportional navigation for exoatmospheric interception 被引量:18
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作者 Li Kebo Zhang Taotao Chen Lei 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2013年第4期976-985,共10页
Ideal proportional navigation (IPN) is a natural choice for exoatmospheric interception for its mighty capture capability and ease of implementation. The closed-form solution of two- dimensional ideal proportional n... Ideal proportional navigation (IPN) is a natural choice for exoatmospheric interception for its mighty capture capability and ease of implementation. The closed-form solution of two- dimensional ideal proportional navigation was conducted in previous public literature, whereas the practical interception happens in the three-dimensional space. A novel set of relative dynamic equations is adopted in this paper, which is with the advantage of decoupling relative motion in the instantaneous rotation plane of the line of sight from the rotation of this plane. The dimension-reduced IPN is constructed in this instantaneous plane, which functions as a three-dimensional guidance law. The trajectory features of dimension-reduced IPN are explored, and the capture regions of dimension-reduced IPN with limited acceleration against nonmaneuvering and maneuvering targets are analyzed by using phase plane method. It is proved that the capture capability of IPN is much stronger than true proportional navigation (TPN), no matter the target maneuvers or not. Finally, simulation results indicate that IPN is more effective than TPN in exoatmospheric interception scenarios. 展开更多
关键词 Capture region Exoatmospheric interception Ideal proportional navigation Instantaneous rotation plane of line of sight Missile guidance Phase plane method
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