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为了提高输电线路检修的自动化程度,降低检修人员的劳动强度,文中提出一种用于电力铁塔或复杂空间桁架结构的5自由度关节式攀爬机器人Pylon ClimberⅢ。在分析机器人的关节驱动器空间、关节空间及笛卡尔空间映射关系的基础上,绘制了机器人的工作空间并求解其体积为0.24 m3。针对非方阵型雅可比矩阵,提出了一种新的基于矩阵子式判断奇异位形的方法,仿真结果验证了分析的正确性。样机试验表明,将奇异性分析结果用于机器人运动控制,可使机器人在攀爬过程中有效避免奇异位形,实现可靠攀爬。
In order to improve the automation of transmission line maintenance and reduce the labor intensity of maintenance personnel, a 5-DOF articulated climbing robot named Pylon ClimberⅢ is proposed in this paper for power tower or complex space truss structure. Based on the analysis of the relationship between robot joint space, joint space and Cartesian space mapping, the working space of the robot is drawn and its volume is 0.24 m3. Aiming at the non-square Jacobian matrix, a new method of judging the singularity based on the matrix sub-type is proposed. The simulation results verify the correctness of the analysis. The prototype test shows that using the singularity analysis results for the robot motion control can effectively prevent the robot from climbing strange shapes and achieve reliable climbing.