关键词: 动力学仿真, 输电线路检测, 特种机器人, 越障机理, 质量调节

Abstract: The obstacle types on overhead ground wires (OGWs) are analyzed and the process of obstacle negotiation is described. When the inspection robot (IR) negotiates obstacles on OGWs by alternating with two arms, process of obstacle negotiation is simple. When one arm is hung on OGWs, the body of IR will tilt because of the influence of gravity deflection torque and the restriction of the arms length of IR. It is very difficult for another arm to accomplish the task which is off or on from OGWs. Under certain circumstances, obstacle negotiation may be unsuccessful. In order to solve the said problems, a mass adjustment method, which can keep the body of IR in horizontal state, is proposed. To validate the correctness of the proposed method, a dynamic model of inspection robot is established by using Lagrange equation. The results of simulation, experiments on simulative OGWs in lab, and tests on OGWs in actual ultra-high voltage environment demonstrate that the method is feasible.

Key words: Dynamic simulation, Mass adjustment, Mechanism of obstacle negotiation, Specific robot, Transmission lines inspection