输电线巡检机器人行走动力特性与位姿分析

根据跨越超高压输电线路障碍物的类型,提出一种新的双臂自主越障巡检机器人机构。该机器人采用复合轮爪机构在架空地线上连续行走并跨越障碍。由于架空地线呈悬链线状,机器人在连续行走过程中会出现上坡和下坡,对行走动力特性的影响非常明显。在上坡时行走电动机提供驱动力矩,在下坡时行走电动机提供制动力矩,以保持匀速巡线。详细分析了机器人在架空地线上行走时所处的加速、匀速、减速和停止的各个状态,驱动机器人所需的驱动力矩以及它们与机构参数之间的关系,并应用优化方法给出各个状态电动机驱动力矩最小时,机器人机构参数对应的最优解,为巡检机器人的设计和控制系统方案的确定提供了理论依据。

A novel inspection robot mechanism,which can implement autonomous obstacle surmounting on overhead transmission line,is presented according to the obstacle types. In order to realize continuous running and autonomous obstacle surmounting,a compounding wheel-clip is adopted.The dif- ference is very obvious in proceeding of robot running result from upgrade and downgrade,where the overhead transmission line is overhung by gravitation.When the robot is upgrade,the drive torque is obtained by the running servo motor.When the robot is downgrade,the brake torque is offered by the motor to hold robot's constant speed.The required torque,which drives the robot to run,is analyzed in speedup,constant speed, speed-down and stop modes that are involved in the mechanism parameters.The best solution of robot's mechanism parameters is determined by optimization method,which can find the minimal drive or brake torque required.It provides theoretic reference for design of inspection robot and control system scheme.

国家高技术研究发展计划资助项目(863计划，2002AA420110)。