[1]何磊,王洪光,刘爱华,等.一种新型悬垂绝缘子检测机器人机构设计[J].智能系统学报编辑部,2015,10(04):541-547.[doi:10.3969/j.issn.1673-4785.201404008]
 HE Lei,WANG Hongguang,LIU Aihua,et al.Mechanism design for a novel suspension insulator detection robot[J].CAAI Transactions on Intelligent Systems,2015,10(04):541-547.[doi:10.3969/j.issn.1673-4785.201404008]
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一种新型悬垂绝缘子检测机器人机构设计(/HTML)
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《智能系统学报》编辑部[ISSN:1673-4785/CN:23-1538/TP]

卷:
第10卷
期数:
2015年04期
页码:
541-547
栏目:
出版日期:
2015-08-25

文章信息/Info

Title:
Mechanism design for a novel suspension insulator detection robot
作者:
何磊12 王洪光1 刘爱华1 王林12
1. 中国科学院 沈阳自动化研究所, 辽宁 沈阳 110016;
2. 中国科学院大学, 北京 100049
Author(s):
HE Lei12 WANG Hongguang1 LIU Aihua1 WANG Lin12
1. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
2. University of Chinese Academy of Sciences, Beijing 100049, China
关键词:
悬垂绝缘子检测机器人机构设计并联机构运动学仿真
Keywords:
suspension insulatordetection robotmechanism designparallel mechanismkinematicssimulation
分类号:
TP24
DOI:
10.3969/j.issn.1673-4785.201404008
文献标志码:
A
摘要:
为了提高悬垂绝缘子检测机器人的运动稳定性、环境适应性和负载能力,针对绝缘子检测任务需求,基于仿生原理,提出了一种新型的悬垂绝缘子检测机器人机构。介绍了机器人的机构构型,分析了机器人的工作原理及行走与检测过程,推导了机器人的运动学方程,给出了机器人的主要尺寸,对相邻绝缘子轴线不重合的情况进行了运动仿真。仿真结果表明,该机构对小角度弯曲的悬垂绝缘子串具有适应性,具有运动平稳、适应性好、负载能力强等优点,适用于输电线路悬垂绝缘子检测。
Abstract:
In order to improve the stability of motion, environmental suitability and load capacity, and to meet the demands of suspension insulator detection task, this paper presents a novel suspension insulator detection robot mechanism based on biomimetic principles. The configuration of the robot’s mechanism is introduced and the working principle and the moving and inspection procedures are analyzed. Equations of kinematics are derived and main dimensions of the robot are given. The kinematic simulation is carried out in the case that the axes of adjacent insulators are misaligned. Simulation results show that the mechanism can adapt to the small-angle bending of suspension insulator strings, and it has such advantages as excellent motion stability, environment adaptability and high load capacity. The robot can be applied to the suspension insulator detection task in power transmission lines.

参考文献/References:

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[2] 武汉高压研究所.DL/T 626-2005, 劣化盘形悬式绝缘子检测规程[S]. 北京: 中国电力出版社, 2005.
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备注/Memo

备注/Memo:
收稿日期:2014-04-06;改回日期:。
基金项目:国家自然科学基金资助项目(51405482),国家电网公司科技项目(N201204F-DDZX-06).
作者简介:何磊,男,1988年生,硕士研究生,主要研究方向为机器人机构设计;王洪光,男,1965年生,研究员,博士生导师,主要研究方向为机器人机构学、特种机器人和机电一体化技术。发表学术论文50余篇,获得发明和实用新型专利20余项;刘爱华,女,1977年生,副研究员,主要研究方向为机电一体化。
通讯作者:王洪光.E-mail:hgwang@sia.cn.
更新日期/Last Update: 2015-08-28