Research on the Structure Design and Steering and Obstacle-crossing of a Novel Four-Arm Inspection Robot

被引：0
|
作者：
Fang L.-J. [1 ]
Zhu S. [2 ]
He C.-L. [2 ]
Xu J.-Q. [2 ]
机构：
[1] School of Robot Science & Engineering, Northeastern University, Shenyang
[2] School of Mechanical Engineering & Automation, Northeastern University, Shenyang
来源：
Dongbei Daxue Xuebao/Journal of Northeastern University | 2019年 / 40卷 / 06期
关键词：
Experiment; Gravity balance; Inspection robot; Simulation; Steering and obstacle-crossing;
D O I：
10.12068/j.issn.1005-3026.2019.06.012
中图分类号：
学科分类号：
摘要：
Based on the working task requirements of an inspection robot and the characteristics of obstacles on high voltage transmission lines, a novel four-arm inspection robot was proposed. The robot was composed of three serial poles which were connected by a three-shaft composite rotary joint and a two-shaft composite rotary joint. The robot can meet the requirements of gravity balance by adjusting its joint angle when it steers and crosses obstacles. The gravity balance condition and the postures of steering and obstacle-crossing were analyzed, and the Adams simulation software was used to simulate the whole process of steering and obstacle-crossing. Finally, an experiment of the robot was carried out. The simulations and experiments showed that the inspection robot is able to steer and cross obstacles, and it can keep gravity balance. © 2019, Editorial Department of Journal of Northeastern University. All right reserved.
引用
收藏
页码：825 / 830
页数：5
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