多节链式移动机器人单元模块研究与设计

doi:10.13973/j.cnki.robot.170488

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陶广宏, 房立金, 徐鑫霖, 贺长林. 多节链式移动机器人单元模块研究与设计[J]. 机器人, 2018, 40(6): 887-893,902.DOI: 10.13973/j.cnki.robot.170488. TAO Guanghong, FANG Lijin, XU Xinlin, HE Changlin. Research and Design of the Unit Module of the Multi-Link Mobile Robot. ROBOT, 2018, 40(6): 887-893,902. DOI: 10.13973/j.cnki.robot.170488.

摘要为满足多节链式输电线巡检机器人质量轻、驱动元件少的应用需求，利用柔索驱动质量轻的特点，提出一种新型单电机柔索驱动的单元模块，并给出其支撑端切换方法．然后，设计机器人单元模块具体结构及原理样机，并建立单元机构运动模型．通过单元俯仰运动实验及支撑端切换实验，得出单元俯仰角度与仿真结果一致，且支撑端切换过程平稳．实验结果表明单电机柔索驱动方案能减少驱动电机数量、实现支撑端切换、满足机器人的越障需求．

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	陶广宏
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关键词 ：柔索驱动, 巡检机器人, 平行四边形机构, 多节链式

Abstract：To meet the practical requirements of light weight and fewer driving motors, a novel unit module driven by a single motor and cables is proposed for the multi-link inspection robot for transmission lines, and the switching method of the supporting stands is presented by taking the advantage of the light weight characteristic of the cable driving. Afterwards, the concrete mechanism and the principle prototype of robot unit module are designed and the kinematic model of unit mechanism is established. The unit pitching motion experiment and the supporting stand switching experiment verify that the pitching angles of the unit are consistent with the simulation results, and the switching process of the supporting stands is stable. The experimental results show that the single motor cable driving method can reduce the number of robot driving motors, realize the switching of the supporting stands, and satisfy the requirements of robot crossing obstacles.

Key words： cable driving inspection robot parallelogram mechanism multi-link

收稿日期: 2017-08-15 录用日期: 2017-11-21

TP242

基金资助:国家自然科学基金（51575092）

通讯作者: 房立金,ljfang@mail.neu.edu.cn E-mail: ljfang@mail.neu.edu.cn

作者简介: 陶广宏(1987-),男,博士生.研究领域:特种机器人结构设计,机器人机构学
房立金(1965-),男,博士,教授,博士生导师.研究领域:仿生攀爬机器人,变刚度仿人机器人,高精度机器人
徐鑫霖(1993-),男,硕士生.研究领域:输电线巡检机器人结构设计.

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.170488 或 https://robot.sia.cn/CN/Y2018/V40/I6/887

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