[1]房立金,王洪光.架空线移动机器人行走越障特点[J].智能系统学报,2010,5(6):492-497.
　FANG Li-jin,WANG Hong-guang.Research on the characteristics of the movement and obstacleclearing processes of a wiresuspended mobile robot[J].CAAI Transactions on Intelligent Systems,2010,5(6):492-497.
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架空线移动机器人行走越障特点

《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷: 5 期数: 2010年第6期 页码: 492-497 栏目: 学术论文—机器感知与模式识别 出版日期: 2010-12-25
Title:
Research on the characteristics of the movement and obstacleclearing processes of a wiresuspended mobile robot
文章编号:
1673-4785(2010)06-0492-06
作者:
房立金1，王洪光2
1.东北大学 机械工程与自动化学院，辽宁 沈阳 110004;
?2.中国科学院 沈阳自动化研究所，辽宁 沈阳 110016
Author(s):
FANG Li-jin1, WANG Hong-guang2
1.School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110004, China;
2 Shenyang Institute of Automation, Chinese Academy of Sciences， Shenyang 110016, China
关键词:
移动机器人; 架空线路; 质心调节
Keywords:
wiresuspended mobile robot;  overhead lines;  centroid adjustment
分类号:
TP24
文献标志码:
A
摘要:
面向电力巡检及维护作业任务需求,以电力输电线路为对象,分析了架空线移动机器人运动环境的特点,对典型架空线移动机器人行走越障过程的特点以及质心调节的影响情况进行了分析,探讨了机器人质心调节方法.提出了一种新型双臂四轮机器人结构以及被动适应的手臂方案,并提出了一种主被动结合的运动协调控制方法.提出的方法在巡检机器人系统中得到了实际应用，实验室模拟线路及实际线路的运行情况表明了机器人系统设计的合理性以及所提出方法的有效性.
Abstract:
In order to meet inspection and maintenance requirements based on power transmission lines, the robot’s moving environment and the obstacleclearing processes were analyzed. The robot design characteristics and the centroidadjustment influence were given. A new robot structure with two arms, four wheels, and a passive adaptive arm design was presented. Moreover, a centroidadjustment method and a new passiveactive hybrid motion control method were also presented. Finally, the method was used in the robot inspection system and verified through experiments in artificial environments and actual transmission lines. The results show that the method is feasible and very effective for improving the performance of robot contro1〖KG-*1/3〗.
参考文献/References:
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［6］朱兴龙，王洪光，房立金，赵明扬，周骥平. 输电线巡检机器人行走动力特性与位姿分析［J］.机械工程学报，2006, 42(12): 143150.
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［7］DEBENEST P, GUARNIERI M, TAKITA K, FUKUSHIMA E F, HIROSE S, TAMURA K, KIMURA A, KUBOKAWA H, IWAMA N, SHIGA F. Explinerrobot for inspection of transmission lines［C］//2008 IEEE International Conference on Robotics and Automation. Pasadena, USA, 2008： 235340.
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备注/Memo

收稿日期：2010-04-11.
基金项目：国家自然科学基金资助项目（60875082）；中央高校基本科研业务费专项资金资助项目（N090403003）.
通信作者：房立金.E-mail:ljfang@mail.neu.edu.cn.
作者简介：
房立金，男，1965年生，教授，博士生导师.主要研究方向为仿生机械及其控制系统，发表学术论文50余篇. 
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，发表论文多篇.

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