论文部分内容阅读
以大倾角输电导线上的绝缘子作为越障对象,对除冰机器人的行走越障进行可行性分析,并对除冰机器人的关键部件进行优化设计,采用Pro/E建立除冰机器人的三维模型,并将模型导入ADAMS中进行动力学仿真分析,仿真结果为机器人各关节的动力参数优化提供了理论依据。通过样机试验表明除冰机器人能够在大倾角导线上行走并成功跨越绝缘子。
Taking the insulators on transmission lines with large dip angle as obstacle obstacle, feasibility analysis of walking obstacle of deicing robot was carried out. The key components of deicing robot were optimized. Pro / E was used to build the three-dimensional model of deicing robot, The model was imported into ADAMS for dynamic simulation analysis. The simulation results provided the theoretical basis for the optimization of the dynamic parameters of the robot joints. Prototype tests show that de-icing robots can walk on steep wires and successfully cross the insulator.