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- Title
新型四臂巡检机器人结构设计及转向越障研究.
- Authors
房立金; 祝 帅; 贺长林; 许继谦
- Abstract
Based on the working task requirements of an inspection robot and the characteristics of obstacles on high voltage transmission lines, a novel four-arm inspection robot was proposed. The robot was composed of three serial poles which were connected by a three-shaft composite rotary joint and a two-shaft composite rotary joint. The robot can meet the requirements of gravity balance by adjusting its joint angle when it steers and crosses obstacles. The gravity balance condition and the postures of steering and obstacle-crossing were analyzed, and the Adams simulation software was used to simulate the whole process of steering and obstacle-crossing. Finally, an experiment of the robot was carried out. The simulations and experiments showed that the inspection robot is able to steer and cross obstacles, and it can keep gravity balance.
- Subjects
GRAVIMETERS (Geophysical instruments); ELECTRIC lines; SIMULATION software; HIGH voltages; TASKS
- Publication
Journal of Northeastern University (Natural Science), 2019, Vol 40, Issue 6, p825
- ISSN
1005-3026
- Publication type
Article
- DOI
10.12068/j.issn.1005-3026.2019.06.012