Research on the Influence of the Driving Wheel and Robot Posture on Climbing Capability of a Transmission Line Inspection Robot
文献类型：会议论文
| 作者 | Song YF(宋屹峰); Wang HG(王洪光) ; Ling L(凌烈)
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| 出版日期 | 2011 |
| 会议名称 | 6th IEEE Conference on Industrial Electronics and Applications (ICIEA) |
| 会议日期 | June 21-23, 2011 |
| 会议地点 | Beijing, China |
| 关键词 | an inspection robot climbing capability power transmission line |
| 页码 | 1632-1639 |
| 中文摘要 | Climbing capability, as an important index to assess the performance of the power transmission line (PTL) inspection robot, directly concerns the robot practical application. In the former design, in order to enhance the climbing capability, the common method is to choose a drive motor with high torque and a transmission system with large reduction ratio. However, as a matter of fact, climbing capability of the inspection robots using the method mentioned above does not become very satisfied. This article analyzes the influence of posture and drive wheel on the climbing capacity, proposes a new method to improve climbing capability by changing the robot posture during climbing and optimum design for drive wheels, which could enhance the adhesion capability and balance the load, and finally validates the correctness of the proposed method by simulation and experiments. The research contents are also meaningful to some other mobile robots. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE, IEEE Ind Elect Soc (IES), IEEE Beijing Sect, Natl Nat Sci Fdn China, HiRain Technol, Beijing Techshine Technol Co Ltd, Beijing Smartmot Syst Technol Inc, Beijing Zhong Ke Fan Hua M&C Technol Co Ltd, IEEE Ind Elect (IE), Chapter, Beihang Univ (BUAA), PANSINO |
| 会议录 | 2011 6TH IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA)
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-8755-4 |
| WOS记录号 | WOS:000296062500312 |
| 源URL | [http://ir.sia.cn/handle/173321/7726]  |
| 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 | Song YF,Wang HG,Ling L. Research on the Influence of the Driving Wheel and Robot Posture on Climbing Capability of a Transmission Line Inspection Robot[C]. 见:6th IEEE Conference on Industrial Electronics and Applications (ICIEA). Beijing, China. June 21-23, 2011. |
入库方式： OAI收割
来源：沈阳自动化研究所
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