输电线巡检机器人动力学建模与DME评价

以新设计的输电线巡检机器人为具体研究对象，采用D-H法推导出机器人的雅可比矩阵；然后建立输电线巡检机器人的Lagrange动力学模型，进而依据机器人动力学模型求得输电线巡检机器人的操作臂惯性矩阵，提出了基于操作臂惯性矩阵所建立的机器人动力学评价指标:动态可操作性椭球(DME:dynamic operability ellipsoid)评价指标；最后结合逆运动学的反解，建立了不同空间轨迹坐标下的动态可操作性衡量指标，获得机器人动力学性能最佳的越障轨迹.通过机器人跨越绝缘子障碍的实验证明了所提动力学评价方法的有效性.

Dynamic Modeling and DME Evaluation of Power Transmission Line Inspection Robots

Taking the newly designed power transmission line inspection robot as the specific research object， the Jacobian matrix of the robot was derived using the D-H method and then the Lagrange dynamic model of the power transmission line inspection robot was established. The inertial matrix of the operating arm of the robot was obtained with the dynamic model， and the evaluation indexes of robot dynamics were put forward based on the inertial matrix of the operating arm— dynamic operability ellipsoid (DME) evaluation index. Finally， combined with the inverse solution of inverse kinematics， dynamic maneuverability indexes under different spatial trajectory coordinates were established， and the obstacle trajectory with the best robot dynamic performance was obtained. Experiments of robots crossing insulator barriers proved the effectiveness of the proposed dynamic evaluation method.