Obstacle performance analysis for a novel inspection robot with passive joints

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	Obstacle performance analysis for a novel inspection robot with passive joints
	Song YF(宋屹峰); Wang HG(王洪光); Jing FR(景凤仁)
	2011
会议名称	2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
会议日期	December 7-11, 2011
会议地点	Phuket, Thailand
关键词	Biomimetics Inspection Robotics
页码	926-931
中文摘要	To complete the power transmission line inspection task successfully, the inspection robot has to cross dampers, splicing sleeves and other obstacles installed in the line quickly and smoothly. A novel inspection robot with passive joints is presented, with its quasi-static model being set up for obstacle-crossing analysis. The analysis result indicates that the passive joints ensure at least one gripper keep close during obstacle-crossing and the robot obstacle performance is enhanced. It will be especially benefit of obstacle-crossing in the inclined line with a large angle and cutting down the robot working risk. In addition, some robot mechanism parameters are determined by optimization method to find the maximum height the robot can cross. Finally, the reliability and stability of the robot obstacle crossing is validated by simulation and field experiment. It provides the theoretic reference for the robot mechanical design and autonomous control.
收录类别	EI
产权排序	1
会议主办者	IEEE
会议录	2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
会议录出版者	IEEE
会议录出版地	New York, USA
语种	英语
ISBN号	978-1-4577-2138-0
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/10168]
专题	沈阳自动化研究所_空间自动化技术研究室
推荐引用方式 GB/T 7714	Song YF,Wang HG,Jing FR. Obstacle performance analysis for a novel inspection robot with passive joints[C]. 见:2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011. Phuket, Thailand. December 7-11, 2011.