A Novel Running and Gripping Mechanism Design Based on Centroid Adjustment
A Novel Running and Gripping Mechanism Design Based on Centroid Adjustment
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DOI：
10.1109/icma.2006.257846
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发表时间：
2006-06
期刊：
影响因子：
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通讯作者：
Xinglong Zhu;Hongguang Wang;L. Fang;Mingyang Zhao;Jiping Zhou
中科院分区：
文献类型：
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作者：
Xinglong Zhu;Hongguang Wang;L. Fang;Mingyang Zhao;Jiping Zhou
一个手臂挂在架空地线（OGW），而另一个手臂离开OGW时，检测机器人自主地通过OGW上的障碍物。巡检机器人由于重力力矩不平衡，身体倾斜，难以自主越障。如果通过夹持机构来保持船体的水平姿态，夹持力会变大，从而导致OGW的损坏。本文提出了一种质心调整方法，使机器人的质心集中在悬挂在OGW上的手臂上。将这一思想应用于设计中，使行走机构和夹持机构改善了OGW的受力状况，减小了损伤程度。本文建立了动态模型，仿真和实验结果证明了该方法的可行性
One arm is hung on the overhead ground wires (OGWs), while the other arm is off the OGW when an inspection robot autonomously negotiates obstacles on OGWs. The inspection robot's body tilts because the gravity torque is unbalanced, and it is difficult to negotiate obstacles autonomously. If the horizontal pose of the body is kept through the gripping mechanism, the gripping force will become bigger, and results in the damage of OGWs. A centroid adjustment method, which enables the centroid of the inspection robot to concentrate on the arm that is hung on OGWs, is proposed in this paper. That idea is applied in the design so that the running and gripping mechanisms ameliorate the strained condition of OGWs and reduce the extent of damage. A dynamic model is established in this paper, the simulation and experiments results prove that the method proposed is feasible