Volume 36, Number 3, June 2018
|Page(s)||432 - 438|
|Published online||08 October 2018|
Mechanism Design and Kinematic Analysis of a Novel Inspection Robot with Four Arms
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
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.
Key words: power transmission line / inspection robot / mechanism design / kinematic analysis
关键字 : 输电线路 / 巡检机器人 / 机构设计 / 运动分析
© 2018 Journal of Northwestern Polytechnical University. All rights reserved.
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