The high-voltage transmission line inspection robots currently in use have problems such as insufficient obstacle crossing ability,complex mechanical structure,large volume and mass,complex motion control system,low obstacle crossing efficiency,and insufficient endurance.Therefore,a new mechanism scheme for obstacle crossing of inspection robots has been proposed.By comprehensively considering the obstacle crossing characteristics and working environment of the robot,a wheel arm composite mechanical structure with three arms symmetrically suspended on the same side was adopted.The kinematic model of the robot mechanism was established using static simulation,and the proposed mechanism design was analyzed and calculated using this model,proving the rationality of the mechanism design.Verified results show that the mechanism has the characteristics of few degrees of freedom,simple structure,and low mass,effectively reducing the difficulty of obstacle crossing,improving the efficiency and safety of robot obstacle crossing,and achieving long-distance autonomous inspection of high-voltage transmission lines by robots.
关键词
电力巡检机器人/尺蠖运动/静力学仿真/越障机构
Key words
power inspection robot/inchworm movement/statics simulation/obstacle crossing mechanism
维普
万方数据