[1]岳湘,王洪光,姜勇,等.一种110kV输电线路巡检机器人机构研究[J].智能系统学报编辑部,2016,11(2):155-162.[doi:10.11992/tis.201511032]
　YUE Xiang,WANG Hongguang,JIANG Yong,et al.Design approach for a 110 kV power transmission line inspection robot mechanism[J].CAAI Transactions on Intelligent Systems,2016,11(2):155-162.[doi:10.11992/tis.201511032]
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一种110kV输电线路巡检机器人机构研究

《智能系统学报》编辑部[ISSN 1673-4785/CN 23-1538/TP] 卷: 11 期数: 2016年第2期 页码: 155-162 栏目: 学术论文—智能系统 出版日期: 2016-04-25
Title:
Design approach for a 110 kV power transmission line inspection robot mechanism
作者:
岳湘1,2, 王洪光1, 姜勇1, 张珏3, 张成巍3, 席宁1
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;
3. 广州供电局有限公司, 广东 广州 510620
Author(s):
YUE Xiang1,2, WANG Hongguang1, JIANG Yong1, ZHANG Yu3, ZHANG Chengwei3, XI Ning1
1. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
2. University of Chinese Academy of Sciences, Beijing 100049, China;
3. Guangzhou Power Supply Bureau of Guangdong Power Grid Corporation, Guangzhou 510620, China
关键词:
输电线路; 巡检; 机器人; 机构设计; 运动学; 作业空间; 越障; 仿真
Keywords:
transmission line; inspection; robot; mechanism design; kinematics; workspace; navigation; simulation
分类号:
TP24
DOI:
10.11992/tis.201511032
摘要:
针对110kV输电线路环境特点及巡检任务需求,提出了一种新型巡检机器人机构,介绍了机器人的机构构型和两种典型障碍物的越障流程,推导了机器人的运动学方程,给出了机器人机构的主要尺寸,分析了典型越障模式下机器人手臂的工作空间。规划了机器人跨越引流线的运动序列并进行了越障仿真与模拟环境的试验,仿真试验结果表明该机构能够跨越引流线、耐张线夹等复杂障碍物,验证了机构设计的合理性,运动规划的可行性,该机构具有结构紧凑、越障能力强、运动平稳等特点。
Abstract:
A novel mechanism for 110 kV power transmission line inspection robot is presented according to the requirements of inspection tasks and characteristics of obstacles on power lines. Its configuration is introduced, and the navigation process of typical obstacles is planned. Then, the kinematics equations and the workspace are established. Furthermore, the simulation of the navigation of the strain clamp and test of navigation the jumper in the laboratory have been carried out. The simulation results demonstrate that the mechanism has such characteristics as compact construction, good motion stability and excellent obstacle negotiation capability.
参考文献/References:
[1] SAWADA J, KUSUMOTO K, MUNAKATA Y, et al. A mobile robot for inspection of power transmission lines[J]. IEEE transactions on power delivery, 1991, 6(1): 309-315.
[2] MOROZOVSKY N, BEWLEY T. SkySweeper: A low DOF, dynamic high wire robot[C]//Proceedings of 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. Tokyo, Japan: IEEE, 2013: 2339-2344.
[3] TOTH J, POULIOT N, MONTAMBAULT S. Field experiences using LineScout technology on large BC transmission crossings[C]//Proceedings of the 1st International Conference on Applied Robotics for the Power Industry. Montreal, QC, Canada: IEEE, 2010.
[4] PEUNGSUNGWAL S, PUNGSIRI B, CHAMNONGTHAI K, et al. Autonomous robot for a power transmission line inspection[C]//Proceedings of the 2001 IEEE International Symposium on Circuits and Systems. Sydney, NSW, Australia: IEEE, 2001: 121-124.
[5] DEBENEST P, GUARNIERI M. Expliner-From prototype towards a practical robot for inspection of high-voltage lines[C]//Proceedings of the 1st International Conference on Applied Robotics for the Power Industry. Montreal, QC, Canada : IEEE, 2010.
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[7] 吴功平, 肖晓晖, 肖华, 等. 架空高压输电线路巡线机器人样机研制[J]. 电力系统自动化, 2006, 30(13): 90-93, 107. WU Gongping, XIAO Xiaohui, XIAO Hua, et al. Development of a mobile inspection robot for high voltage power transmission line[J]. Automation of electric power systems, 2006, 30(13): 90-93, 107.
[8] WANG Hongguang, JIANG Yong, LIU Aihua, et al. Research of power transmission line maintenance robots in SIACAS[C]//Proceedings of the 1st International Conference on Applied Robotics for the Power Industry. Montreal, QC, Canada: IEEE, 2010.
[9] 孙翠莲, 王洪光, 王鲁单, 等. 一种改进的超高压输电线路巡检机器人越障方法[J]. 机器人, 2006, 28(4): 379-384. SUN Cuilian, WANG Hongguang, WANG Ludan, et al. An improved obstacle navigation method for ultra-high voltage power line inspection robot[J]. Robot, 2006, 28(4): 379-384.
[10] FUKUDA T, SAITO F, ARAI F. A study on the brachiation type of mobile robot (heuristic creation of driving input and control using CMAC)[C]//Proceedings of IROS ’91. IEEE/RSJ International Workshop on Intelligent Robots and Systems ’91. Intelligence for Mechanical Systems. Osaka, Japan: IEEE, 1991: 478-483
[11] HAN S S, LEE J M. Path-selection control of a power line inspection robot using sensor fusion[C]//Proceedings of IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems. Seoul, Korea: IEEE, 2008: 8-13.
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备注/Memo

收稿日期:2015-12-2;改回日期:。
基金项目:国家自然科学基金项目(61179049).
作者简介:岳湘,男,1986年生,博士,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等.发表学术论文170余篇,获得发明和实用新型专利40余项;姜勇,男,1975年生,副研究员,主要研究方向为机器人智能控制、嵌入式系统、特种机器人系统及应用。发表学术论文20余篇,参与编写专著2部。
通讯作者:岳湘.E-mail:yuexiang@sia.cn.

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