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Research on mechanism configuration and dynamic characteristics for multi-split transmission line mobile robot
Industrial Robot ( IF 1.8 ) Pub Date : 2021-09-24 , DOI: 10.1108/ir-04-2021-0074
Wei Jiang 1 , Yating Shi 1 , Dehua Zou 2 , Hongwei Zhang 3 , Hong Jun Li 3
Affiliation  

Purpose

The purpose of this paper is to achieve the optimal system design of a four-wheel mobile robot on transmission line maintenance, as the authors know transmission line mobile robot is a kind of special robot which runs on high-voltage cable to replace or assist manual power maintenance operation. In the process of live working, the manipulator, working end effector and the working environment are located in the narrow space and with heterogeneous shapes, the robot collision-free obstacle avoidance movement is the premise to complete the operation task. In the simultaneous operation, the mechanical properties between the manipulator effector and the operation object are the key to improve the operation reliability. These put forward higher requirements for the mechanical configuration and dynamic characteristics of the robot, and this is the purpose of the manuscript.

Design/methodology/approach

Based on the above, aiming at the task of tightening the tension clamp for the four-split transmission lines, the paper proposed a four-wheel mobile robot mechanism configuration and its terminal tool which can adapt to the walking and operation on multi-split transmission lines. In the study, the dynamic models of the rigid robot and flexible transmission line are established, respectively, and the dynamic model of rigid-flexible coupling system is established on this basis, the working space and dynamic characteristics of the robot have been simulated in ADAMS and MATLAB.

Findings

The research results show that the mechanical configuration of this robot can complete the tightening operation of the four-split tension clamp bolts and the motion of robot each joint meets the requirements of driving torque in the operation process, which avoids the operation failure of the robot system caused by the insufficient or excessive driving force of the robot joint torque.

Originality/value

Finally, the engineering practicability of the mechanical configuration and dynamic model proposed in the paper has been verified by the physical prototype. The originality value of the research is that it has double important theoretical significance and practical application value for the optimization of mechanical structure parameters and electrical control parameters of transmission line mobile robots.



中文翻译:

多分裂传输线移动机器人机构配置及动力学特性研究

目的

本文的目的是实现输电线路维修四轮移动机器人系统的优化设计。电力维护操作。在带电作业过程中,机械手、作业末端执行器及作业环境位于狭小空间内,形态各异,机器人无碰撞避障运动是完成作业任务的前提。在同时操作中,机械手效应器与操作对象之间的力学性能是提高操作可靠性的关键。这些对机器人的机械配置和动态特性提出了更高的要求,

设计/方法/方法

在此基础上,针对四分体传动线路张紧夹具的拉紧任务,提出了一种适应多分体传动行走和作业的四轮移动机器人机构配置及其终端工具。线。研究中分别建立了刚体机器人和柔性传输线的动力学模型,并在此基础上建立了刚柔耦合系统的动力学模型,在ADAMS中对机器人的工作空间和动力学特性进行了仿真。和 MATLAB。

发现

研究结果表明,该机器人的机械配置可以完成四分式张力夹螺栓的拧紧作业,机器人各关节的运动满足作业过程中驱动力矩的要求,避免了机器人的作业故障。机器人关节力矩驱动力不足或过大引起的系统。

原创性/价值

最后通过实物样机验证了本文提出的力学构型和动力学模型的工程实用性。该研究的独创性在于对输电线路移动机器人的机械结构参数和电气控制参数的优化具有双重重要的理论意义和实际应用价值。

更新日期:2021-09-24
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