计算机应用与软件2012，Vol.29Issue(4)：220-223,228,5.
基于ADAMS的输电线路移动机器人越障仿真
ADAMS-BASED SIMULATION OF OBSTACLE-CROSSING FOR A MOBILE ROBOT ON TRANSMISSION LINES
赵金龙 1曹雷 1郭锐 1张峰1
作者信息
- 1. 山东电力研究院国家电网公司电力机器人技术实验室 山东济南250002
- 折叠
摘要
Abstract
The mobile obstacle-crossing mechanism is the fundamental of the robot for inspection of transmission lines, and is one of the technical hurdles restricting the development of lines mobile robot at present. Based on 3D modelling software SolidWorks and dynamics simulation analysis software ADAMS, a simulation model of dual-arm mobile robot is established in virtual environment. Through the obstacle-avoidance path planning method, the kinematic simulation data is generated, and in ADAMS virtual environment the stable obstacle-crossing by the dual-arm mobile robot is achieved. Simulation results indicate that the design of dual-arm crisscross sliding structure can meet the walking requirements, and the method of obstacle-avoidance path planning is feasible, the simulation data can be used as reference for further research and development of physical prototype of the dual-arm robot.关键词
输电线路/移动机器人/越障/运动学分析Key words
Transmission lines/Mobile robot/Obstacle-crossing/Kinematics analysis分类
信息技术与安全科学引用本文复制引用
赵金龙,曹雷,郭锐,张峰..基于ADAMS的输电线路移动机器人越障仿真[J].计算机应用与软件,2012,29(4):220-223,228,5.
