双臂巡检机器人沿输电线路行走特性研究

传统双臂巡检机器人沿大跨度输电线路行走过程中存在行走轮受力不均、易脱线等问题.针对这些问题，分别建立了传统双臂巡检机器人和带柔索双臂巡检机器人行走轮受力模型，对比分析表明:与传统双臂巡检机器人相比，随着线路倾斜角度增大，带柔索双臂巡检机器人两臂行走轮受力较均匀，不会出现脱线现象.在相同质量参数和结构参数条件下，采用虚拟样机技术分析了2种类型机器人沿输电线路行走时行走轮受力情况，仿真结果表明，传统双臂巡检机器人在线路倾斜角度达到28°时，出现单臂挂线现象；而带柔索双臂巡检机器人在线路倾斜角度达到37°时，仍能保持稳定地双臂挂线.综合分析表明，带柔索双臂巡检机器人的结构设计在线路行走方面具有明显优势，对于倾斜角较大的大跨度输电线路具有更强的适应能力，行走稳定性更好. 

Research on Dual-Arms Inspection Robots Walking Along Transmission Line

To solve some problems such as force unbalance of walking-wheels and easy to get off line existing in traditional dual-arms inspection robot walk along transmission line, the walking-wheels'' force models of traditional dual-arms inspection robot and dual-arms inspection robot with flexible-cable were established respectively. Compared with traditional dual-arms inspection robot, the two walking-wheels'' force of robot with flexible-cable were more balance and walking-wheel couldn''t get off line with line angle increasing. Walking wheels'' force conditions of two kinds of robots walking along line were simulated based on virtual prototype technology with the same parameters. Simulation results show that traditional robot would walk with single arm while line angle gradually increased to 28°, yet robot with flexible-cable still walked with two arms while line angle gradually increased to 37°. Therefore, the structural design of dual-arms inspection robot with flexible-cable has obvious advantages in walking along line, and it has stronger adaptive capacity for long-span transmission line with the bigger angle.