新型多单元串联巡检机器人机构研究与设计

针对超高压输电线路巡检机器人作业任务需求和输电线路障碍环境特点，提出了一种新型多单元串联的巡检机器人机构，每个单元由两个串联的平行四边形机构组成.根据机器人的越障机理及线路障碍物类型，规划出机器人的4种典型越障模式，给出机器人的主要结构设计参数，分析了典型越障模式下机器人手臂的工作空间.分析结果表明，该机构具备跨越500kV输电线路上典型障碍的能力，多单元串联的巡检机器人机构能够满足爬坡和转向条件下的越障运动需求.

Research and Design of a Novel Inspection Robot with Multi unit Mechanisms in Series

Regarding the working task requirement of inspection robot and the rugged surroundings of high voltage transmission line， a novel inspection robot with multi unit mechanisms in series was designed. Each unit mechanism was composed of two parallelogram mechanisms in series. Based on the obstacle crossing mechanism of the robot and the types of obstacles over the transmission line， prime structure parameters and four representative obstacle crossing modes of the robot were provided. The workspace of the robot was analyzed for the typical crossing mode. The analysis results show that the robot has ability to cross typical obstacles over the 500kV transmission line， the robot mechanisms with multi unit in series can meet the requirements of crossing obstacles and turning on the transmission line which has certain inclination.