Analysis on the Walking Ability of Dual-arm Inspection Robots Along Catenary Lines with Posture Changes

doi:10.12068/j.issn.1005-3026.2022.06.016

Abstract

Abstract: A dual-arm inspection robot walking along catenary lines has such problems as the uneven force of the robot’s wheels and slipping on the lines， an active adjustment method of the moving joints is proposed to solve these problems. The force models of the robot walking wheels are established respectively， which are the traditional dual-arm inspection robot， the dual-arm inspection robot with flexible cables and the dual-arm inspection robot with moving joints. The comparative analysis shows that when the robot is in the best position and posture， the walking wheels have the best stress， and the robot is not likely to slip. The dynamic model of the inspection robot’s joint changes is established and the joint controller is designed. Simulations are carried out on two working conditions of obstacle crossing and line walking. The designed controller can assist the robot to complete the tasks of obstacle crossing and large-slope cruise. The application of the controller can effectively handle the joint vibration problem and shorten the response time. Finally， experiments of robot walking over obstacles and walking on different slopes are carried out. The results show that the designed controller can assist the robot to complete the inspection task and handle the walking slip problem.

Key words: dual-arm inspection robot; walking ability; dynamics modeling; joint adjustment; posture change

CLC Number:

TP13
TP249

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.

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