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配重系统、电机及其传动系统是电缆巡检机器人重量的主要组成部分,其结构复杂、整体重量大,人力将其搬至塔上困难。如采用无配重欠驱动设计,可大幅减轻机器人重量。基于这一设计思想,设计了在重力约束的情况下无配重,且仅用一个滚筒电机就能驱动肩、肘、腕三个关节的欠驱动机器人。结合越障机理对机器人的结构状态进行了研究。为了验证设计的合理性,设计了控制系统和主程序结构图,并结合样机进行越障试验。试验结果表明该机器人能在无配重系统的情况下,保持了机体基本平衡;利用欠驱动控制实现了机器人的平稳越障;达到了减轻机器人自重的目的。
The weight system, the motor and its transmission system are the main components of the weight of the cable inspection robot. Due to its complex structure and overall weight, it is difficult for manpower to move it to the tower. Such as the use of non-weight under-driven design, can greatly reduce the weight of the robot. Based on this design idea, an under-driven robot designed to drive the shoulder, elbow and wrist joints with no weight under the constraint of gravity and a single roller motor was designed. Based on the mechanism of obstacle obstacle, the structural state of the robot was studied. In order to verify the rationality of the design, the control system and the main program structure chart are designed, and the obstacle obstacle test is carried out with the prototype. The experimental results show that the robot can maintain the basic balance of the body without the counterweight system, and the smooth obstacle avoidance can be achieved by under-drive control. The purpose of reducing the weight of the robot is achieved.