Structural design and kinematic analysis of moving mechanism of insulator inspection robot
文献类型：会议论文
| 作者 | Li SJ(李树军); Yang Q(杨强); Geng M(耿蒙); Wang HG(王洪光) ; Li, X.P.
|
| 出版日期 | 2015 |
| 会议名称 | 3rd IFToMM Symposium on Mechanism Design for Robotics, MEDER 2015 |
| 会议日期 | June 2-4, 2015 |
| 会议地点 | Aalborg, Denmark |
| 关键词 | Inspection robot Insulato Structural design Moving mechanism Kinematic analysis |
| 卷号 | 33 |
| 页码 | 239-247 |
| 中文摘要 | The insulator is a part of high-voltage power transmission lines. The security and reliability of power system is mainly determined by safe working of insulator. Moving mechanism of insulator inspection robot is developed to inspect potential risk and operating status of insulator, which has important application in power engineering. Considering the working condition of insulator and mobile program of existing inspection robot, a novel foot-simulated moving mechanism of insulator inspection robot is proposed. Mobile program and structural configuration are determined, structural parameters are designed and kinematics analysis are completed. Finally, a 3D virtual prototyping of the moving mechanism is built with Solidworks, the moving process on insulator string of the mechanism is simulated with Adams, kinematic performances are calculated by simulating. The simulation results verify structural rationality of the moving mechanism and correctness of kinematic analysis proposed in this paper. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 2 |
| 会议录 | Mechanisms and Machine Science
 |
| 会议录出版者 | Kluwer Academic Publishers |
| 会议录出版地 | Dordrecht, Netherlands |
| 语种 | 英语 |
| ISSN号 | 2211-0984 |
| ISBN号 | 978-3-319-18125-7 |
| WOS记录号 | WOS:000375066700023 |
| 源URL | [http://ir.sia.cn/handle/173321/17291]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 推荐引用方式 GB/T 7714 | Li SJ,Yang Q,Geng M,et al. Structural design and kinematic analysis of moving mechanism of insulator inspection robot[C]. 见:3rd IFToMM Symposium on Mechanism Design for Robotics, MEDER 2015. Aalborg, Denmark. June 2-4, 2015. |
入库方式： OAI收割
来源：沈阳自动化研究所
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