Design and Simulation of Metamorphic 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)
|
| 出版日期 | 2015 |
| 会议名称 | Third ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2015) |
| 会议日期 | July 20-22, 2015 |
| 会议地点 | Beijing, China |
| 关键词 | Inspection robot Insulator Structural design Moving mechanism Kinematic analysis |
| 页码 | 747-756 |
| 中文摘要 | A novel metamorphic mechanism was proposed as the moving mechanism of insulator inspection robot. According to inspection operational requirements and mobile program of existing inspection robot, a metamorphic mechanism composed by the parallelogram mechanism with changeable frame and the cam mechanism was designed. Mobile program and configurations transforming were determined, and kinematics analysis were completed. Practical moving process on insulator string of the mechanism is simulated with a virtual prototyping software package Adams, kinematics performance are calculated by simulation. The simulation results verify that the proposed metamorphic mechanism can achieve the climbing process on hanging string, level string and V-string with a tilt angle. The translational motion of claw can protect the surface coating of the insulators, and compensate the manufacture and installation errors of insulator string. |
| 收录类别 | EI |
| 产权排序 | 2 |
| 会议录 | Advances in Reconfigurable Mechanisms and Robots II
 |
| 会议录出版者 | Springer Verlag |
| 会议录出版地 | Berlin |
| 语种 | 英语 |
| ISSN号 | 2211-0984 |
| ISBN号 | 978-3-319-23326-0 |
| 源URL | [http://ir.sia.cn/handle/173321/17674]  |
| 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. Design and Simulation of Metamorphic Moving Mechanism of Insulator Inspection Robot[C]. 见:Third ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2015). Beijing, China. July 20-22, 2015. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。