Mechanism Design and Kinematics Analysis of an Electricity Pylon Climbing Robot
A 5-DOF articulated electricity pylon climbing robot is proposed to improve the automation of inspection and maintenance for electricity pylons.The robot adopts a novel linear actuator to achieve the angle regulation of the dual-arm,which increases the motion stability and drastically decreases the requirement of drive motor output torque than conventional design.An innovative mechanical gripper with good adaptability is designed for the robot.We propose a new method to analyze kinematics based on the mapping relationships among joint drive space,joint space and operation space,and validate the correctness of the proposed method by the simulation.Then,choose the simulation method to analyze the reachable workspace of the robot and calculate the workspace volume to describe its obstacle overcoming capability and motion performance.Series of experiments are conducted in an indoor environment and the results prove an effective and rational designed electricity pylon climbing robot.
climbing robot electricity pylons mechanism design kinematics analysis
Xiao-Yu Liu Xiao-Long Lu Shi-Ping Zhao
School of Manufacturing Science and Engineering, Sichuan University, Chengdu, China
国际会议
天津
英文
419-424
2012-10-16（万方平台首次上网日期，不代表论文的发表时间）