新型三臂巡线机器人机构设计及运动分析

杨德伟 1; 冯祖仁 1; 2; 张翔 1; 2

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新型三臂巡线机器人机构设计及运动分析

更新时间：2025-07-09

- 新型三臂巡线机器人机构设计及运动分析
- Mechanism Design and Kinematic Analysis of a Novel Tribrachiation Robot for Transmission Line Inspection
- 西安交通大学学报 2012年46卷第9期页码：43-48+54
- 作者机构：
  
  1. 西安交通大学系统工程研究所,西安,710049
  2. 西安交通大学制造系统工程国家重点实验室,西安,710049
- 作者简介：
- 基金信息：
- DOI：
  中图分类号： TP242
- 网络首发：2012-09-10，
  
  纸质出版：2012
- 稿件说明：
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杨德伟 1, 冯祖仁 1, 2, 等. 新型三臂巡线机器人机构设计及运动分析[J]. 西安交通大学学报, 2012,46(9):43-48+54.

Mechanism Design and Kinematic Analysis of a Novel Tribrachiation Robot for Transmission Line Inspection[J]. 2012, 46(9): 43-48+54.
杨德伟 1, 冯祖仁 1, 2, 等. 新型三臂巡线机器人机构设计及运动分析[J]. 西安交通大学学报, 2012,46(9):43-48+54. DOI：

Mechanism Design and Kinematic Analysis of a Novel Tribrachiation Robot for Transmission Line Inspection[J]. 2012, 46(9): 43-48+54. DOI：

摘要

为了增强机器人的越障能力

简化机械结构

减小越障时的电机负荷

设计了一种新型结构的三臂巡线机器人.该机器人采用双平行四边形桁架构型实现三臂的位姿调整运动

机构重心可调以减小桁架控制电机的负荷

各臂末端设置夹线轮以增强机器人跨越引流线障碍的能力.巡线机器人调整形态越障时

因机构重心偏移会引起机器人整体绕线缆偏转

属于基座浮动式机器人.根据机器人重力平衡条件构造优化目标函数

以基座浮动角度作为搜索变量

将基座浮动式机器人的运动分析问题转化为一维优化问题进行求解

仿真实验验证了算法的有效性.原型样机在实验室环境下完成了线上行走和越障实验

验证了机构的可行性.

Abstract

A novel tribrachiation robot is designed to enhance its cross-obstacle ability

simplify its structure

and reduce the load on motors. A dual-parallelogram frame structure is taken as the main part of the robot to adjust the gesture of each arm

the robot centroid can be adjusted to decrease the load on the motors for frame shape control

and the robot ability to traverse flexible jumper line is enhanced by the gripper at the end of each arm. Line inspection robot

which can be categorized as a floating base robot

will rotate around the line passively due to centroid deviation when it changes configuration to traverse obstacles. The kinematic analysis for floating base robot is converted to one-dimensional optimization

where the gravity balance condition is considered to construct the optimization objective function and the floating base angle is regarded as the optimization parameter. Simulation shows the effectiveness of the proposed method

and the feasibility of the mechanism is verified by the prototype robot traversing obstacles on line in laboratory environment.

关键词

Keywords

references

KATRASNIK J, PERNUS F, LIKAR B. A survey of mobile robots for distribution power line inspection [J]. IEEE Transactions on Power Delivery, 2010, 25(1): 485-493.

SAWADA J, KUSUMOTO K, MUNAKATA T, et al. A mobile robot for inspection of power transmission-lines [J]. IEEE Transactions on Power Delivery, 1991, 6(1): 309-315.

TOUSSAINT K, POULIOT N, MONTAMBAULT S. Transmission line maintenance robots capable of crossing obstacles: state-of-the-art review and challenges ahead [J]. Journal of Field Robotics, 2009, 26(5): 477-499.

ZHU Xinglong, WANG Hongguang, FANG Lijin, et al. A novel running and gripping mechanism design based on centroid adjustment [C]∥Proceedings of the 2006 IEEE International Conference on Mechatronics and Automation. Piscataway, NJ, USA: IEEE, 2006: 1471-1476.

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.

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DEBENEST P, GUARNIERI M, TAKITA K, et al. Expliner-Robot for inspection of transmission lines [C]∥Proceedings of IEEE International Conference on Robotics and Automation. Piscataway, NJ, USA: IEEE, 2008: 3978-3984,4085.

ZHOU F Y, WANG J D, LI Y B, et al. Control of an inspection robot for 110 kV power transmission lines based on expert system design methods [C]∥Proceedings of IEEE International Conference on Control Applications. Piscataway, NJ, USA: IEEE, 2005: 1563-1568, 1708.

TANG Li, FANG Lijin, WANG Hongguang. Development of an inspection robot control system for 500 kV extra-high voltage power transmission lines [C]∥Proceedings of SICE 2004 Annual Conference: Vol. 2. Tokyo, Japan: SICE, 2004: 1819-1824, 2848.

WANG Jidai, SUN Aiqin, ZHENG Candong, et al. Research on a new crawler type inspection robot for power transmission lines [C]∥Proceedings of 2010 First International Conference on Applied Robotics for the Power Industry. Piscataway, NJ, USA: IEEE, 2010: 1-5.

李恩,梁自泽,谭民.约束条件下的巡线机器人逆运动学求解[J].控制理论与应用, 2006(1): 43-48.

LI En, LIANG Zize, TAN Min. Analysis of solution to the inverse kinematics of inspection robot for power transmission lines with constraints [J]. Control Theory Applications, 2006(1): 43-48.

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