【摘 要】
：
针对高压线巡线任务和避雷线环境提出了一种新型巡检机器人设计方案,规划了巡线越障方式,采用高阻尼转轴与质心调节相协调的杆塔越障方法,并利用ADAMS对系统爬坡过程进行了仿
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针对高压线巡线任务和避雷线环境提出了一种新型巡检机器人设计方案,规划了巡线越障方式,采用高阻尼转轴与质心调节相协调的杆塔越障方法,并利用ADAMS对系统爬坡过程进行了仿真分析,在驱动轮转矩为10Nm,爬坡坡度为20°时,分析比较了控制箱位于滑台不同位置时横向摆动和机器人行程,结果表明在控制箱位于滑台斜上方50mm处最稳定。
Aiming at the task of patrolling high voltage line and the environment of lightning conductor, a new design scheme of patrol robot is proposed. The obstacle detection method of patrol line is planned. The method of tower obstacle obstacle coordinated by high damping shaft and centroid adjustment is adopted and ADAMS is used to climb the system The simulation and analysis are carried out. When the driving wheel torque is 10Nm and the grade of climbing is 20 °, the lateral swing and the robot stroke are analyzed and compared when the control box is located at different positions of the slide table. The results show that when the control box is located 50mm At the most stable.
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