三臂式巡检机器人重力平衡及其转向越障方法

摘要

A novel three-arm inspection robot for power transmission line was proposed,which was composed of four serial parallelogram mechanisms.The robot mechanism possessed the ability to meet the gravity balance requirements when steering and crossing obstacles by adj usting the robot pose.The obstacle�crossing flows were presented,the pivotal step of steering obstacle�crossing was analyzed,the binary approximating principles were applied to search the robot obstacle�crossing pose satisfing the balance constraints.The solution method satisfing the balance constraints of the robot inG verse kinematics was proposed,the robot steering and crossing obstacles under gravity balance condiG tions was realized.The research results show that the novel three�arm inspection robot has steering and obstacle�crossing capacity.%提出了一种由4组平行四边形机构串联组成的新型三臂式巡检机器人机构，该机构能够通过调节机器人的姿态来满足越障过程中的重力平衡要求。给出了机器人越障流程规划，并对转向越障中的关键步骤进行了分析，利用二分逼近优化算法搜寻满足重力平衡条件的越障姿态，给出了满足重力平衡约束条件的运动学逆解求取方法，实现了机器人重力平衡约束条件下的转向越障运动。分析结果表明，该新型三臂式巡检机器人具有转向跨越障碍的能力。