一种全方位爬缆机器人的设计与分析

作者：海丹，张辉，韩大鹏，郑志强 日期：2009-02-23/span> 浏览：4070 查看PDF文档

一种全方位爬缆机器人的设计与分析

海丹，张辉，韩大鹏，郑志强
（国防科技大学 机电工程与自动化学院，湖南 长沙 410073）

摘要：提出了一种应用于缆索维护的爬缆机器人机构实现方案，该机器人采用中心可转向的轮式驱动；介绍了机构组成及工作原理，在建立缆索曲线约束模型的基础上分析了机器人的驱动力，计算出了机器人能够在斜缆上工作所需要的临界驱动力；讨论了机器人在斜缆上工作时机器人轴和缆索轴不重合而出现偏心的原因，提出了减小偏心的方法，并计算出了为保持机器人对斜缆的适应性所需要的最小偏心量。实际应用表明，该机器人能够实现在缆索上的全方位运动，可适用于不同粗细的缆线，适合完成一系列缆索自动维护工作。
关键词：爬缆；缆索维护；全向移动；机器人
中图分类号：TP242.3文献标识码：A文章编号：1001-4551(2009)01-0008-04

Design and analysis of an omni-directional cable climbing robot
HAI Dan， ZHANG Hui， HAN Da-peng， ZHENG Zhi-qiang
(College of Mechatronics and Automation, National University of Defense Technology, Changsha 410073, China)
Abstract: A novel cable climbing robot applied to cable maintenance was introduced. It is centered orientable wheel-based, omni-directional cable climbing robot. The climbing mechanism of the robot and its working process were described. The driving force needed was analyzed, and the critical force needed for maintaining robot staying cable was calculated. The eccentricity allowed between center of robot and cable axis when the robot moving on inclined cable was discussed, and the least eccentric magnitude was calculated. The practical application results show that it can climb cables with different diameter, and the system can fulfill a series of maintenance work automatically.
Key words: cable climbing; cable maintenance; omni-directional; robot
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