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ANALYSIS OF DRIVE DYNAMIC PERFORMANCE AND POSITION-POSE OF AUTONOMOUS ROBOT FOR TRANSMISSION LINE INSPECTION
Authors
周骥平
房立金
+3 more
朱兴龙
王洪光
赵明扬
Publication date
1 January 2006
Publisher
Abstract
根据跨越超高压输电线路障碍物的类型,提出一种新的双臂自主越障巡检机器人机构。该机器人采用复合轮爪机构在架空地线上连续行走并跨越障碍。由于架空地线呈悬链线状,机器人在连续行走过程中会出现上坡和下坡,对行走动力特性的影响非常明显。在上坡时行走电动机提供驱动力矩,在下坡时行走电动机提供制动力矩,以保持匀速巡线。详细分析了机器人在架空地线上行走时所处的加速、匀速、减速和停止的各个状态,驱动机器人所需的驱动力矩以及它们与机构参数之间的关系,并应用优化方法给出各个状态电动机驱动力矩最小时,机器人机构参数对应的最优解,为巡检机器人的设计和控制系统方案的确定提供了理论依据。</p
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Institutional Repository of Institute of Automation, CAS
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Last time updated on 16/09/2020
Shenyang Institute of Automation,Chinese Academy Of Sciences
See this paper in CORE
Go to the repository landing page
Download from data provider
oai:ir.sia.cn/:173321/2770
Last time updated on 09/01/2019