线塔两用输电线巡检机器人越障问题-研究

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1、万方数据东北大学硕士学位论文Abs仃actResearchoncrossingobstacleforinspectionmobilerobotintransmissionlineandtowerAbstractEHVtransmissionlineinspectionrobotisanimportantdirectionofcurrentresearchinthefieldofrobotics．Inspectionrobotcarleffectivelyavoidthelowefficiencylaborinspection

2、，poorsecurity,jobdifficultyhighermalpractice．Atpresent，domesticandintemationalinspectionrobotinspectionrobotbasedmostly,thisissuebasedonthreefour-leggedrobotclimbingabasicconfiguration，thetowerpresentsalineofdual—useinspectionrobot，fromatransmissiontowertothetransm

3、issionlineThefullrangeofinspectionwork．Thispaperfocusesonconfigurationoptimizationofrobotstooptimizeandproposesolutionsforlineinspectionrobotobstacleproblem．First，brieflydescribesthedomesticandinternationalclimbingrobotsandinspectionrobotresearchstatusanddevelopmen

4、ttrends，summarizetheobstaclesandclimbingenvironmentenvironmentalrequirementsoftransmissionlines．Second，thecombinationofEHVtransmissionlinesandtransmissionlinetowersinspectionworkrequirements，weproposeathree—shotquadrupedrobotoperationprogram．Undertheprogram，combine

5、dwiththeinspectionrequirementsoftransmissionlineswerestructuraloptimizationanddualtowercomplexlineinspectionrobotgripperdesign，theuseofthree—dimensionalmodelingsoftwareSolidworkstoestablishapreliminarymodelrobotmachineandmadearobotonthe1ineTheobstaclescheme．Again，t

6、helinefortheinspectionrobothungaU—shapedposturekinematicsanalysis．Robotduetoaheavymomentforwindingbalanceproblemscausedbymechanicaldeflectionwereanalyzed，andanapproximateangleofdeflectionwindingsolvingoptimizationiterativealgorithm，thealgorithmwrittenbymatlabandgot

7、thejobbasedonthegravityoftheendofEquilibriumspacecloud．AdamsthroughmatlabCO—simulationresultsanditerativealgorithmwasvalidated．Finally,calculatedtherobotwalkswheeldrivetorqueandjointvariables．Usesolidworksforinspectionrobotmodelhasbeensimplified，andsuspensionbyadam

8、stherobotarlTlonthedownhillobstaclestatusandprocesssimulaiontoverifythereasonablenessofV万方数据东北大学硕士学位论文Abs仃actbodiesandhasbeenacorrespondingtorque