双臂巡检机器人位姿变化下沿悬链线行走能力分析

为解决双臂巡检机器人沿输电线行走过程中存在的行走轮受力不均，易打滑脱线等问题，提出一种移动关节主动调节方法.分别建立了传统的双臂巡检机器人、带柔索双臂巡检机器人和带移动关节双臂巡检机器人行走轮受力模型，对比分析发现:机器人在最佳位姿状态下，受力情况最好，不易发生打滑问题.建立了巡检机器人关节变化的动力学模型并设计主动控制器，对机器人行走越障和沿线行走两种工况进行了仿真模拟.所设计的控制器能够协助机器人完成大坡度巡航与行走越障工作，并能够有效抑制关节振荡问题，缩短响应时间.最后开展了机器人行走越障与不同坡度行走实验，表明所设计的控制器能够辅助机器人完成巡检任务，有效抑制了行走打滑问题.

Analysis on the Walking Ability of Dual-arm Inspection Robots Along Catenary Lines with Posture Changes

A dual-arm inspection robot walking along catenary lines has such problems as the uneven force of the robot’s wheels and slipping on the lines， an active adjustment method of the moving joints is proposed to solve these problems. The force models of the robot walking wheels are established respectively， which are the traditional dual-arm inspection robot， the dual-arm inspection robot with flexible cables and the dual-arm inspection robot with moving joints. The comparative analysis shows that when the robot is in the best position and posture， the walking wheels have the best stress， and the robot is not likely to slip. The dynamic model of the inspection robot’s joint changes is established and the joint controller is designed. Simulations are carried out on two working conditions of obstacle crossing and line walking. The designed controller can assist the robot to complete the tasks of obstacle crossing and large-slope cruise. The application of the controller can effectively handle the joint vibration problem and shorten the response time. Finally， experiments of robot walking over obstacles and walking on different slopes are carried out. The results show that the designed controller can assist the robot to complete the inspection task and handle the walking slip problem.