【摘要】：高壓輸電線路巡檢機(jī)器人是近期機(jī)器人領(lǐng)域各高校研究的熱點(diǎn)課題之一。高壓輸電線路引起的故障會(huì)直接導(dǎo)致人民、工業(yè)企業(yè)、以及國(guó)家利益的重大損失。因此對(duì)其進(jìn)行定期檢修是很有必要的。由于輸電線路巡檢強(qiáng)度大,環(huán)境復(fù)雜,人工巡檢極其不便,本文研究的機(jī)器人就是為了替代人工對(duì)輸電線路進(jìn)行定期巡檢研制的,這樣可以降低成本以及保障工人的安全�；�500kv超高壓輸電線路巡檢作業(yè)的工作環(huán)境的分析,本文主要包括對(duì)巡檢機(jī)器人的結(jié)構(gòu)方案的設(shè)想、基于Pro-E和Adams的運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)的建模分析和優(yōu)化。最后通過(guò)研制出的樣機(jī)系統(tǒng),經(jīng)過(guò)實(shí)驗(yàn)室階段性能測(cè)試,實(shí)際線路的現(xiàn)場(chǎng)巡檢測(cè)試,完成了初期目標(biāo),實(shí)現(xiàn)機(jī)器人的自動(dòng)巡檢。具體的研究?jī)?nèi)容如下:首先介紹了巡檢作業(yè)的環(huán)境和巡檢內(nèi)容,建立典型線路模型,根據(jù)不同金具的特點(diǎn),提出方案設(shè)想和選型分析。第二,對(duì)巡檢機(jī)器人進(jìn)行具體的結(jié)構(gòu)設(shè)計(jì),整體包括行走機(jī)構(gòu)、開(kāi)合夾具、剎車機(jī)構(gòu)、避障機(jī)構(gòu)、和一些配重等輔助機(jī)構(gòu)的設(shè)計(jì)。第三,對(duì)機(jī)器人建立了理論模型分析,主要從機(jī)構(gòu)的自由度、運(yùn)動(dòng)形式、越障軌跡以及爬坡進(jìn)行闡述。然后就Pro-E里設(shè)計(jì)的機(jī)器人的三維實(shí)體模型,導(dǎo)入到ADAMS,對(duì)機(jī)器人進(jìn)行完整的運(yùn)動(dòng)學(xué)分析,并對(duì)其越障的動(dòng)作規(guī)劃進(jìn)行驗(yàn)證和修改。最后,將分析好的模型出圖加工,制成物理樣機(jī),通過(guò)實(shí)驗(yàn)室試驗(yàn),基于搭建好的線路試驗(yàn),對(duì)實(shí)驗(yàn)數(shù)據(jù)進(jìn)行分析,得出巡檢機(jī)器人的可能性以及存在的不足。本文所研究的內(nèi)容,主要從理論模型分析,虛擬樣機(jī)分析,物理樣機(jī)分析等多個(gè)角度,驗(yàn)證設(shè)計(jì)出的能夠自主避障的巡檢機(jī)器人的機(jī)構(gòu)合理性。
[Abstract]:High voltage transmission line inspection robot is one of the hot topics in the field of robotics. The failure of high voltage transmission line will directly lead to the great loss of people, industrial enterprises and national interests. Therefore, it is necessary to carry out regular maintenance. Due to the high intensity of transmission line inspection, complex environment and extremely inconvenient manual inspection, the robot studied in this paper is developed to replace the manual inspection of transmission lines, which can reduce the cost and ensure the safety of workers. Based on the analysis of the working environment of 500kv EHV transmission line inspection operation, this paper mainly includes the assumption of the structure scheme of the inspection robot, and the modeling, analysis and optimization of kinematics and dynamics based on Pro-E and Adams. Finally, through the developed prototype system, through the laboratory stage performance test, the actual line field inspection test, completed the initial goal, realized the robot automatic inspection. The specific research contents are as follows: firstly, the environment and inspection content of inspection operation are introduced, the typical line model is established, and according to the characteristics of different fittings, the scheme idea and type selection analysis are put forward. Secondly, the specific structure design of the inspection robot is carried out, including the design of walking mechanism, opening and closing fixture, brake mechanism, obstacle avoidance mechanism, and some auxiliary mechanisms such as counterweight. Thirdly, the theoretical model of the robot is established, which is mainly described from the degree of freedom of the mechanism, the motion form, the obstacle trajectory and the climbing. Then the 3D solid model of the robot designed in Pro-E is imported into ADAMS, to carry on the complete kinematic analysis of the robot, and the action planning of crossing the obstacle is verified and modified. Finally, the analyzed model is drawn and processed and made into a physical prototype. Through the laboratory test, based on the built line test, the experimental data are analyzed, and the possibility and shortcomings of the inspection robot are obtained. The research contents of this paper mainly verify the rationality of the designed inspection robot which can avoid obstacles independently from the aspects of theoretical model analysis, virtual prototype analysis, physical prototype analysis and so on.
【學(xué)位授予單位】：南昌大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242;TM755

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