Dynamic Coupling Simulation of a Power Transmission Line Inspection Robot with its Flexible Moving Path when Overcoming Obstacles
Dynamic Coupling Simulation of a Power Transmission Line Inspection Robot with its Flexible Moving Path when Overcoming Obstacles
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DOI：
10.1109/coase.2007.4341691
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发表时间：
2007-10
期刊：
影响因子：
--
通讯作者：
Xiaohui Xiao;Gongping Wu;Sanping Li
中科院分区：
文献类型：
--
作者：
Xiaohui Xiao;Gongping Wu;Sanping Li
通过耦合动力学仿真研究了柔性运动路径-架空输电线路对巡检机器人动态响应性能的影响。首先，利用拉格朗日方程和模态综合法分别建立了机器人的多刚体动力学模型和输电线路跨段的多柔体动力学模型。然后在两种典型越障姿态下的抓取点处对两种模型进行耦合。对三种不同档距的柔性架空输电线路进行了各姿态下的动力响应仿真。通过仿真结果的对比分析，探索了柔性作业环境对机器人动态响应性能的影响规律。
The influence of the flexibility moving path-overhead transmission line -on the inspection robot's dynamic response performance is studied through coupling dynamic simulation. First, a rigid multi-body dynamic model of the robot and a flexible multi-body dynamic model of a span of transmission line were built with Lagrange equation and modal synthesis method, respectively. Then the two models were coupled in the grasping point under two typical postures of passing obstacles. The dynamic response simulation of each posture was carried out with three different spans of flexible overhead transmission line. The laws governing impacts of flexible job environment upon the robot's dynamic response performance are explored through simulation results comparison and analysis.