Obstacle performance analysis for a novel inspection robot with passive joints | |
Song YF(宋屹峰); Wang HG(王洪光)![]() ![]() | |
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
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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. |
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