Analysis on the characteristics for a new differential crawling device of an insulator inspection robot
文献类型：期刊论文
| 作者 | Pan, Wujiu3; Li XP(李小彭)2,3; Li SJ(李树军)2,3; Wang, Xinqi1; Wang HG(王洪光)2
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| 刊名 | International Journal of Industrial and Systems Engineering
 |
| 出版日期 | 2018 |
| 卷号 | 30期号:4页码:512-535 |
| 关键词 | insulator inspection robot differential drive crawling device error self-adjustment |
| ISSN号 | 1748-5037 |
| 产权排序 | 1 |
| 英文摘要 | In order to realise the synchronous drive of the insulator inspection robot with a simple control system, a single drive crawling device of the robot is designed. This device has a three-degree freedom (3-DOF) differential drive system which can be driven by a motor to make the three sets of arm crawl synchronously. It has a certain ability of self-adaption and compensating output errors. First, the crawling device's assembly model of insulator inspection robot is designed. Then the kinematics analysis is established. In addition, a kineto-statics model is founded to analyse the total torque and the stress state of the contact points when the device is crawling. Finally, simulation is used to analyse and the error adjustment of crawling device is studied. After theoretical analysis and dynamic simulation of the crawling device, results show that it has a certain ability of error adjustment. |
| 语种 | 英语 |
| 源URL | [http://ir.sia.cn/handle/173321/23679]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 作者单位 | 1.Dalian Engineering Construction Co., Ltd. of China First Heavy Industries, Dalian 116000, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110819, China 3.School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China |
| 推荐引用方式 GB/T 7714 | Pan, Wujiu,Li XP,Li SJ,et al. Analysis on the characteristics for a new differential crawling device of an insulator inspection robot[J]. International Journal of Industrial and Systems Engineering,2018,30(4):512-535. |
| APA | Pan, Wujiu,Li XP,Li SJ,Wang, Xinqi,&Wang HG.(2018).Analysis on the characteristics for a new differential crawling device of an insulator inspection robot.International Journal of Industrial and Systems Engineering,30(4),512-535. |
| MLA | Pan, Wujiu,et al."Analysis on the characteristics for a new differential crawling device of an insulator inspection robot".International Journal of Industrial and Systems Engineering 30.4(2018):512-535. |
入库方式： OAI收割
来源：沈阳自动化研究所
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