A novel running and gripping mechanism design based on centroid adjustment
文献类型：会议论文
| 作者 | Zhu XL(朱兴龙); Wang HG(王洪光) ; Fang LJ(房立金); Zhao MY(赵明扬); Zhou JP(周骥平)
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| 出版日期 | 2006 |
| 会议名称 | IEEE International Conference on Mechatronics and Automation |
| 会议日期 | June 25-28, 2006 |
| 会议地点 | Luoyang, China |
| 关键词 | mechamism design centroid adjustment inspection of power transmission lines mobile robot |
| 页码 | 1471-1476 |
| 中文摘要 | One arm is hung on the overhead ground wires (OGWs), the other is off from OGW when inspection robot autonomously negotiates obstacles on OGWs. The tilt of inspection robot's body is happened because the gravity torque is unbalance, and it is difficult to obstacle negotiating autonomous for inspection robot. If the horizontal pose of the body is kept through the gripping mechanism, the gripping force will become bigger, and result in the damage of OGWs. A centroid adjustment method, which enables the centroid of inspection robot to concentrate on the arm that is hung on OGWs, is proposed in this paper. That idea is applied in design about running and gripping mechanism will ameliorate the strained condition of OGWs and reduce the extent of damage. Dynamic model is established in this paper, the simulation results and the experiments outcomes test that the method proposed is feasible. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE Robot & Automat Soc, Shandong Univ, Harbin Engn Univ, Univ Elect Sci & Technol China, IEEE Hong Kong Sect Joint RACS Chapter, Robot Soc Japan, Japan Soc Mech Engineers, Japan Soc Precis Engn, Chinese Univ Hong Kong, Chiba Inst Technol, Kagawa Univ |
| 会议录 | IEEE ICMA 2006: Proceeding of the 2006 IEEE International Conference on Mechatronics and Automation, Vols 1-3, Proceedings
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| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 1-4244-0465-7 |
| WOS记录号 | WOS:000241434601115 |
| 源URL | [http://ir.sia.cn/handle/173321/8507]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Zhu XL,Wang HG,Fang LJ,et al. A novel running and gripping mechanism design based on centroid adjustment[C]. 见:IEEE International Conference on Mechatronics and Automation. Luoyang, China. June 25-28, 2006. |
入库方式： OAI收割
来源：沈阳自动化研究所
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