绝缘子检测机器人振动阻尼比计算新方法研究

摘要

架空输电线路绝缘子检测机器人工作于绝缘子串上,工作过程中受工作环境和本身关节动作影响,机器人的机体会发生振动.基于质心算法的阻尼比计算方法主要思路:分析信号质心与振动阻尼比的联系,确定质心与阻尼比的函数关系.信号质心获取方法简单,且受外界影响小,因此绝缘子检测机器人阻尼比计算新方法能够快速、准确估算出机器人振动的阻尼比,为改善机器人的工作振动状态提供依据.提出的估算阻尼比的方法物理概念清晰、简单,便于实现.仿真计算和实测试验结果表明该方法快速、有效.%When the insulator in line detection robot works on insulator strings, it will be affected by the working environment and the joint motion of the robot, which will lead to the vibration of the robot.The main idea of the method to estimate attenuation vibration damping ratioon mass center is that the relationship between the vibration damping ratio and the mass center is analyzed. And the functional relationship between the vibration damping ratio and the mass center is determined. The acquisition method of signal centroid is simple and is not influenced by outside world. So the method can estimate the vibration damping ratio of the robot quickly and accurately. And this method can provide the basis for improving the vibrational state of the robot on the work. Physical concept is clear and simple in this method of identifying damping ratio. And this method is easy to implement. Simulation and measurement show that the method is quick and effective.