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受导线柔性特性的影响,高压线巡检机器人与导线构成了非线性,强耦合的动力学系统。提出了一种双臂移动巡检机器人结构,并研究了该机器人与导线的建模方法。用Newton-Euler法建立了机器人的动力学子模型,机器人的基座设在导线上,并不固定。用有限元法建立了导线的子模型,并考虑了应力刚化效应。所建的机器人-导线系统模型体现了机器人与导线的动力学耦合关系。利用该模型进行了动力学和运动学仿真,分析了导线的振动和变形对机器人运动的影响。
Affected by the flexibility of the wire, the high-voltage line inspection robot and the wire form a nonlinear, strongly coupled dynamic system. A dual-arm mobile inspection robot is proposed, and the modeling method of robot and wire is studied. The Newton-Euler method is used to establish the dynamic sub-model of the robot. The base of the robot is set on the wire and is not fixed. The finite element method was used to establish the sub-model of the wire, and the stress stiffening effect was taken into account. The robot-wire system model built shows the dynamic coupling between the robot and the wire. The kinematics and kinematics simulation of this model was carried out. The influence of the vibration and deformation of the wire on the robot motion was analyzed.