Journal of Northeastern University Natural Science ›› 2020, Vol. 41 ›› Issue (9): 1280-1284.DOI: 10.12068/j.issn.1005-3026.2020.09.011

• Mechanical Engineering • Previous Articles     Next Articles

Dynamic Modeling and DME Evaluation of Power Transmission Line Inspection Robots

LI Xiao-peng, SHANG Dong-yang, LI Fan-jie, CAO Wei-long   

  1. School of Mechanical Engineering & Automation, Northeastern University, Shenyang 110819, China.
  • Received:2020-01-15 Revised:2020-01-15 Online:2020-09-15 Published:2020-09-15
  • Contact: SHANG Dong-yang
  • About author:-
  • Supported by:
    -

Abstract: Taking the newly designed power transmission line inspection robot as the specific research object, the Jacobian matrix of the robot was derived using the D-H method and then the Lagrange dynamic model of the power transmission line inspection robot was established. The inertial matrix of the operating arm of the robot was obtained with the dynamic model, and the evaluation indexes of robot dynamics were put forward based on the inertial matrix of the operating arm— dynamic operability ellipsoid (DME) evaluation index. Finally, combined with the inverse solution of inverse kinematics, dynamic maneuverability indexes under different spatial trajectory coordinates were established, and the obstacle trajectory with the best robot dynamic performance was obtained. Experiments of robots crossing insulator barriers proved the effectiveness of the proposed dynamic evaluation method.

Key words: inspection robot, Lagrange dynamics, dynamic operability ellipsoid (DME), obstacle trajectory, dynamic evaluation method

CLC Number: