磁悬浮巡检机器人越障结构设计及仿真
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摘要
针对目前设计的架空高压巡检机器人越障步骤多,跨越障碍运行不稳定问题,提出一种基于磁悬浮运行方式的机械机构,该机构越障步骤少,越障过程平稳,可跨越间隔棒、防震锤和直线夹等障碍。该开合机构利用丝杆螺母实现机器人主体的张合运动,从而实现越障。对该机构进行运动学分析,验证了此设计的理论可行性;建立了巡检机器人的三维模型及障碍物模型,运用Solidworks Motion插件对巡检机器人越障进行仿真分析,并对越障机构的机械结构进行优化,通过对越障机构末端执行件弯连杆的速度与加速度曲线图分析,显示该越障机构可以较好地越过障碍。
In order to solve the problem of obstacle operation,proposes a mechanical mechanism based on the magnetic levitation operation mode. The mechanism is less obstructed by the obstacle than the obstacle like shock hammer,straight clip and so on.The opening and closing mechanism utilizes the screw nut to realize the tension movement of the robot body,thus realizing the obstacle. The kinetic analysis of the mechanism is carried out to verify the theoretical feasibility of the design. The three-dimensional model and the obstacle model of the inspection robot are established. The Solidworks Motion plug-in is used to simulate the obstacle of the robot. The mechanism is optimized. Through the analysis of the velocity and acceleration curve of the connecting rod at the end of the obstacle structure,it is shown that the obstacle avoidance mechanism can cross the obstacle better and has no obvious vibration.
In order to solve the problem of obstacle operation,proposes a mechanical mechanism based on the magnetic levitation operation mode. The mechanism is less obstructed by the obstacle than the obstacle like shock hammer,straight clip and so on.The opening and closing mechanism utilizes the screw nut to realize the tension movement of the robot body,thus realizing the obstacle. The kinetic analysis of the mechanism is carried out to verify the theoretical feasibility of the design. The three-dimensional model and the obstacle model of the inspection robot are established. The Solidworks Motion plug-in is used to simulate the obstacle of the robot. The mechanism is optimized. Through the analysis of the velocity and acceleration curve of the connecting rod at the end of the obstacle structure,it is shown that the obstacle avoidance mechanism can cross the obstacle better and has no obvious vibration.
引文
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[15]李大磊,熊渊.一种空间摆动机构的运动分析[J].机械传动,2012(2):75-77.
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[2]吴功平,肖华,梁康,等.高压输电线路模块可重构移动作业机器人的设计及实现[J].武汉大学学报(工学版),2014(4):260-265.
[3]郭伟斌,王洪光,姜勇,等.一种输电线路巡检机器人越障规划方法[J].机器人,2012(4):505-512.
[4]朱兴龙,周骥平,王洪光,等.输电线巡检机器人越障机理与试验[J].机械工程学报,2009(2):119-125.
[5]王鲁单,王洪光,房立金,等.输电线路巡检机器人越障控制研究[J].中国机械工程,2007(22):2652-2655.
[6]徐显金,王云龙,杨小俊,等.除冰机器人磁力矩驱动除冰方法建模与仿真[J].计算机仿真,2017(4):356-361.
[7]徐显金,吴龙辉,杨小俊,等.高压直流巡检机器人的磁力驱动方法[J].浙江大学学报(工学版),2016(10):1937-1945,1986.
[8]徐显金,吴龙辉,杨小俊,等.高压直流巡检机器人的磁悬浮方法建模与仿真[J].计算机仿真,2016(7):378-382,422.
[9]徐显金,张昌汉,杨光友,等.基于磁悬浮的高压直流输电线路巡检机器人可行性研究[J].武汉大学学报(工学版),2015(2):274-278.
[10]徐显金,冯玉立,方磊,等.磁悬浮式高压线巡检机器人避障机构设计[J].机械设计与制造,2016(5):61-63,67.
[11]吴功平,肖晓晖,肖华,等.架空高压输电线路巡线机器人样机研制[J].电力系统自动化,2006,30(13):90-107.
[12]陈虹微,杨燕珍.基于Solidworks和ADMAS的凸轮式行星传动轴承设计研究[J].龙岩学院学报,2016(2):86-92.
[13]张运楚,梁自泽,傅思遥,等.基于结构约束的架空输电线路巡线机器人障碍识别[J].机器人,2007(1):1-6.
[14]李大磊,丁天涛,程建民,等.基于Solid Works Motion的空间摆动机构的运动分析[J].制造业自动化,2011(22):70-71.
[15]李大磊,熊渊.一种空间摆动机构的运动分析[J].机械传动,2012(2):75-77.
[16]郭晓宁,褚金奎,杨轩.基于Solid Works的空间连杆机构实体运动分析软件的开发[J].机械科学与技术,2003(4):619-621.