输电线巡检机器人动力学建模与DME评价

doi:10.12068/j.issn.1005-3026.2020.09.011

东北大学学报:自然科学版 ›› 2020, Vol. 41 ›› Issue (9): 1280-1284.DOI: 10.12068/j.issn.1005-3026.2020.09.011

输电线巡检机器人动力学建模与DME评价

李小彭，尚东阳，李凡杰，曹伟龙

(东北大学机械工程与自动化学院，辽宁沈阳110819)

收稿日期:2020-01-15 修回日期:2020-01-15 出版日期:2020-09-15 发布日期:2020-09-15
通讯作者: 李小彭
作者简介:李小彭(1976-)，男，江西宁都人，东北大学教授，博士生导师.
基金资助:
国家自然科学基金资助项目(51875092); 中央高校基本科研业务费专项资金资助项目(N170302001).

Dynamic Modeling and DME Evaluation of Power Transmission Line Inspection Robots

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

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:
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摘要/Abstract

摘要： 以新设计的输电线巡检机器人为具体研究对象，采用D-H法推导出机器人的雅可比矩阵；然后建立输电线巡检机器人的Lagrange动力学模型，进而依据机器人动力学模型求得输电线巡检机器人的操作臂惯性矩阵，提出了基于操作臂惯性矩阵所建立的机器人动力学评价指标:动态可操作性椭球(DME:dynamic operability ellipsoid)评价指标；最后结合逆运动学的反解，建立了不同空间轨迹坐标下的动态可操作性衡量指标，获得机器人动力学性能最佳的越障轨迹.通过机器人跨越绝缘子障碍的实验证明了所提动力学评价方法的有效性.

关键词: 巡检机器人, Lagrange动力学, 动态可操作性椭球(DME), 越障轨迹, 动力学评价方法

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

中图分类号:

TH16
TP242

李小彭，尚东阳，李凡杰，曹伟龙. 输电线巡检机器人动力学建模与DME评价[J]. 东北大学学报:自然科学版, 2020, 41(9): 1280-1284.

LI Xiao-peng， SHANG Dong-yang， LI Fan-jie， CAO Wei-long. Dynamic Modeling and DME Evaluation of Power Transmission Line Inspection Robots[J]. Journal of Northeastern University Natural Science, 2020, 41(9): 1280-1284.

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输电线巡检机器人动力学建模与DME评价

Dynamic Modeling and DME Evaluation of Power Transmission Line Inspection Robots

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