Design and Analysis of a Line-walking Robot for Power Transmission Line Inspection

摘要：

The subject of this paper is the design and analysis of a biped line walking robot for inspection of power transmission lines. The novel mechanism enables the centroid of the robot concentrate on the hip joint to minimize the drive torque of the hip joint. The line-walking cycle of the designed mechanism is composed of a single-support phase and a double-support phase. The mechanical structure of the robot is discussed, as well as forward kinematics. Dynamic model is established in this paper to analysis the reachable robot workspace in the single supported phase and inverse kinematics for motion planning. Locomotion of the linewalking robot is discussed in details and the obstaclenavigation process is planed according to the structure of power transmission line. The feasibility of this concept is then confirmed by performing experiments with a simulated line environment.

关键词： biped power transmission line locomotion obstacle navigation

作者: Ludan Wang Fei Liu Shaoqiang Xu Sheng Cheng Jianwei Zhang

作者单位: Laboratory of Intelligent Robot Engineering KunShan Institute of Industrial Research Kunshan,Jiangsu TAMS University of Hamburg Germany

会议类型: 国际会议

会议名称: 2010 IEEE信息与自动化国际会议(ICIA 2010)

会议地点: 哈尔滨

会议语种:英文

页码: 1-6

在线出版日期: 2010-06-20（万方平台首次上网日期，不代表论文的发表时间）