电力铁塔攀爬机器人的步态分析

曹志华; 陆小龙; 赵世平; 王蕾; 梁恩志; 刘晓宇

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电力铁塔攀爬机器人的步态分析

更新时间：2025-07-09

- 电力铁塔攀爬机器人的步态分析
- Gait Analysis for Electricity Pylon Climbing Robot
- 西安交通大学学报 2011年45卷第8期页码：67-72
- 作者机构：
  
  四川大学制造科学与工程学院,成都,610065
- 作者简介：
- 基金信息：
  
  : 2011-02-23. 作者简介: 曹志华(1987-),男,硕士生;陆小龙(联系人),男,讲师. 基金项目: 四川省科技计划资助项目(2008GZ0156)
- DOI：
  中图分类号： TP242
- 网络首发：2011-08-10，
  
  纸质出版：2011
- 稿件说明：
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曹志华, 陆小龙, 赵世平, 等. 电力铁塔攀爬机器人的步态分析[J]. 西安交通大学学报, 2011,45(8):67-72.

Gait Analysis for Electricity Pylon Climbing Robot[J]. 2011, 45(8): 67-72.
曹志华, 陆小龙, 赵世平, 等. 电力铁塔攀爬机器人的步态分析[J]. 西安交通大学学报, 2011,45(8):67-72. DOI：

Gait Analysis for Electricity Pylon Climbing Robot[J]. 2011, 45(8): 67-72. DOI：

摘要

为了提高电力系统的自动化水平

减轻电力工人在检修高压输电系统时的劳动强度

同时保障其人身安全

提出并设计了一种可以攀爬电力铁塔的5自由度关节式机器人

给出了机器人的CAD模型

分析了其在铁塔两种位置攀爬过渡的能力.根据机器人机构特征

提出、分析和比较了蠕虫式和扭转式攀爬步态.蠕虫式攀爬步态即机器人本体的两连杆之间角度周期变化

两爪交替前进; 扭转式攀爬步态即机器人本体不动

爪部回转关节旋转180°使得机器人整体扭转半周.在机械系统动力学仿真软件ADAMS环境下

对机器人采用这两种步态在铁塔主材表面、横担侧面和上表面3种方位攀爬情况进行了仿真

计算和分析了不同情况下机器人各关节转矩和系统能耗

得出最适合铁塔各种方位的攀爬步态:在横担上攀爬时应采用能耗较小的扭转式步态

但是在主材表面攀爬时两种步态能耗接近

需考虑障碍类型选取合适的步态.仿真结果为机器人的攀爬步态规划及控制策略提供了依据

同时样机试验结果也验证了两种攀爬步态的可行性.

Abstract

A 5-DOF articulated robot capable of climbing electricity pylons

is proposed to improve the automation capabilities of power system

reduce the labor intensity of workers and guarantee their safety in the maintenance of high-voltage transmission system. The CAD model for this robot is established

and the feasibility transiting between two positions in any orientations is verified. The worm gait and turning gait are analyzed and compared. In the worm gait the angle of the two linkages changes cyclically and two claws go forward alternately

and the body keeps still while the rotary joint rotates 180° toreverse the robot by semicycle in turning gait. The joint torque and energy consumption of the robot when it climbs in various orientations including the main surface

side and upper surface of cross bar are calculated and analysed in the simulation with the software ADAMS(Automatic Dynamic Analysis of Mechanical Systems)to get the most suitable climbing gait in various orientations of the pylons. The robot climbs on the cross bar in turning gait with the less energy consumption

while climbs on the main surface with the equal energy consumption

an appropriate gait can be chosen according to the obstacle. The simulation is significant for gait planning and control strategy

and the prototype test confirms the feasibility of both climbing gaits.

关键词

Keywords

references

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