高压线巡检机器人动力学建模及分析

受导线柔性特性的影响,高压线巡检机器人与导线构成了非线性,强耦合的动力学系统.提出了一种双臂移动巡检机器人结构,并研究了该机器人与导线的建模方法.用Newton-Euler法建立了机器人的动力学子模型,机器人的基座设在导线上,并不固定.用有限元法建立了导线的子模型,并考虑了应力刚化效应.所建的机器人-导线系统模型体现了机器人与导线的动力学耦合关系.利用该模型进行了动力学和运动学仿真,分析了导线的振动和变形对机器人运动的影响.

Dynamics Modeling and Analysis for Power Lines Inspection Robot

For the flexible characteristic of the cable, the power lines inspection robot and the cable are highly nonlinear and coupling dynamic system. An inspection robot prototype which can navigate on the cable was presented and the dynamics modeling method of the robot-cable system was researched. Based on the Newton-Euler method, the robot model was built. The base of the robot was set on the cable and wasn't fixed. The cable model was derived based on FEM and the effect of the stress stiffening was considered. The robot-cable system model adequately embodied the dynamics coupling relationship of the cable and the robot. The kinematics and dynamics simulation results were given and the influences of the cable's vibration and deformation on the inspection robot's motion were discussed.