Mechanism Design and Kinematic Analysis of a Novel Inspection Robot with Four Arms

一种新型四臂巡检机器人机构设计与运动分析

¹ State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
² University of Chinese Academy of Sciences, Beijing 100049, China
³ Shenzhen Power Supply Bureau Co., Ltd. Shenzhen 518048, China

Received: 4 May 2017

Abstract

To meet the requirements of mechanical dimensions, climbing performance and obstacle negotiation capability of an inspection robot on the long-span transmission line, a novel inspection robot with four arms is designed by drawing on the research on human being’s climbing on a tree. Firstly, according to its kinematical characteristics we learned from human being’s tree climbing, the mechanism configuration of the robot on the transmission line is introduced and methods of overcoming two typical obstacles are planned. Then, its main structural parameters are provided, its kinematics equation is derived, and the analysis of kinematics performances such as grade ability and obstacle overcoming is carried out to verify the feasibility of the mechanism design. Finally, experiments on movement are conducted on the platform of virtual prototype. The results indicate that the robot has such features as excellent grade ability and obstacle overcoming performance.

摘要

为满足大跨度输电线路对巡检机器人结构尺寸、爬坡性能以及越障性能等方面的要求，从人爬树运动研究中得到启示，设计了一种新型四臂式巡检机器人。首先，通过探索人爬树过程中运动姿态特点，介绍了机器人的机构构型和2种典型障碍物的越障方法。其次，给出了机器人机构的主要尺寸，推导了机器人的运动学方程，对机器人爬坡和越障运动性能进行了分析，以验证机构设计的可行性。最后，在虚拟样机平台上进行了运动仿真实验。结果表明该机器人同时具备较强爬坡能力和跨越单挂点等复杂障碍物的能力。