Analysis for Crossing Obstacle Distance of Dual-Arms Inspection Robot

doi:10.12068/j.issn.1005-3026.2017.09.017

Journal of Northeastern University Natural Science ›› 2017, Vol. 38 ›› Issue (9): 1293-1297.DOI: 10.12068/j.issn.1005-3026.2017.09.017

• Mechanical Engineering • Previous Articles Next Articles

Analysis for Crossing Obstacle Distance of Dual-Arms Inspection Robot

WEI Yong-le^{1, 2}， FANG Li-jin¹， TAO Guang-hong¹

1. School of Mechanical Engineering & Automation， Northeastern University， Shenyang 110819， China; 2. College of Mechanical Engineering， Liaoning Technical University， Fuxin 123000， China.

Received:2016-03-30 Revised:2016-03-30 Online:2017-09-15 Published:2017-09-08
Contact: WEI Yong-le
About author:-
Supported by:
-

Abstract

Abstract: The crossing obstacle distance of three type dual-arms inspection robots， including arms fixed robot， arms mobile robot and robot with flexible cable， was investigated. The mathematical models were established for the crossing obstacle distance of the three type dual-arms inspection robots by theoretical analysis. Under similar values of the quality and dimensions， the max crossing obstacle distance of the three type robots were calculated based on the different gradients of the transmission line. The results show that the arm movements of dual-arms inspection robot with flexible cable are more flexible with a larger crossing obstacle distance， which can be regulated by the obstacle size. Thus， the dual-arms inspection robot with flexible cable has obvious advantages in realizing lightweight structure design.

Key words: inspection robot, regulating the center of mass, dual-arms, crossing obstacle distance, flexible cable

CLC Number:

TP242

WEI Yong-le ， FANG Li-jin， TAO Guang-hong. Analysis for Crossing Obstacle Distance of Dual-Arms Inspection Robot[J]. Journal of Northeastern University Natural Science, 2017, 38(9): 1293-1297.

References

[1]Lorimer T，Boje E.A simple robot manipulator able to negotiate［C］//The 2nd International Conference on Applied Robotics for the Power Industry.Zurich，2012:136-141.
[2]孙翠莲，赵明扬，王洪光.风荷载下越障巡检机器人结构参数优化［J］.机械工程学报，2010，46(7):16-21.(Sun Cui-lian，Zhao Ming-yang，Wang Hong-guang.Structural parameters optimization of a navigating inspection robot under the wind load［J］.Journal of Mechanical Engineering，2010，46(7):16-21.)
[3]Wang H G，Zhang F，Jiang Y.Development of an inspection robot for 500kV EHV power transmission lines［C］//The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.Taipei，2010:5107-5112.
[4]严宇，吴功平，杨展，等.基于模型的巡线机器人无碰避障方法研究［J］.武汉大学学报(工学版)，2013，46(2):261-265.(Yan Yu，Wu Gong-ping，Yang Zhan，et al.Research on method of obstacle-passing robot without touching based on the model［J］.Engineering Journal of Wuhan University，2013，46(2):261-265.)
[5]Li C，Wu G P，Cao H.The research on mechanism，kinematics and experiment of 220 kV double-circuit transmission line inspection robot［C］//2009 International Conference on Intelligent Robotics and Applications.Singapore，2009:1146-1155.
[6]房立金，魏永乐，陶广宏.一种新型带柔索双臂式巡检机器人设计［J］.机器人，2013，35(3):319-325.(Fang Li-jin，Wei Yong-le，Tao Guang-hong.Design of a novel dual-arm inspection robot with flexible cable［J］.Robot，2013，35(3):319-325.)
[7]Yang D W，Feng Z R，Ren X D.A novel power line inspection robot with dual-parallelogram architecture and its vibration suppression control［J］.Advanced Robotics，2014，28(12):807-819.
[8]Liang Q K，Wang Y N，Zhang D.Multifunctional robotic system for live power transmission lines［J］.International Journal of Robotics and Automation，2014，29(2):175-183.
[9]Guo R，Zhang F，Cao L.A mobile robot prototype for inspection of overhead bundled conductors［C］//The 2nd International Conference on Applied Robotics for the Power Industry.Zurich，2012:132-135.
[10]Goncalves R S，Carvalho J C M.A mobile robot to be applied in high-voltage power lines［J］.Journal of the Brazilian Society of Mechanical Sciences and Engineering，2015，37(1):349-359.

Analysis for Crossing Obstacle Distance of Dual-Arms Inspection Robot

RichHTML

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 7

Recommended Articles

Metrics

Comments

[1]	LI Xiao-peng， LI Kai， FAN Xing， ZHANG Ling-yue. Analysis on the Walking Ability of Dual-arm Inspection Robots Along Catenary Lines with Posture Changes [J]. Journal of Northeastern University(Natural Science), 2022, 43(6): 872-880.
[2]	LI Xiao-peng， FAN Xing， LI Kai， ZHANG Ling-yue. Dynamic Performance Analysis of Line Inspecting Robots Considering Time-Varying Loads [J]. Journal of Northeastern University(Natural Science), 2022, 43(5): 660-667.
[3]	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.
[4]	LI Xiao-peng， SHANG Dong-yang， LI Fan-jie，WEN Bang-chun. Flexible Joint Control Strategy Based on Posture Change of Transmission Line Inspection Robots [J]. Journal of Northeastern University Natural Science, 2020, 41(11): 1577-1583.
[5]	FANG Li-jin， ZHU Shuai， HE Chang-lin， XU Ji-qian. Research on the Structure Design and Steering and Obstacle-crossing of a Novel Four-Arm Inspection Robot [J]. Journal of Northeastern University Natural Science, 2019, 40(6): 825-830.
[6]	FANG Li-jin， HE Chang-lin， ZHU Shuai， TAO Guang-hong. Control Strategy and Trajectory Planning of Serial Multi-arm Inspection Robots [J]. Journal of Northeastern University Natural Science, 2019, 40(5): 734-739.
[7]	FANG Lijin， TAO Guanghong. Research and Design of a Novel Inspection Robot with Multiunit Mechanisms in Series [J]. Journal of Northeastern University Natural Science, 2014, 35(8): 1173-1177.