输电线路除冰机器人竖直摆臂机构研究

摘要

研制除冰机器人代替人工方法进行导线除冰具有重要的应用前景.分析了除冰机器人前(后)臂运动特点,得到竖直摆臂机构的设计要求.根据竖直摆臂机构设计要求,采用四杆机构实现竖直摆臂运动.基于四杆机构的封闭性,应用解析法进行了四杆机构的机构综合,并用实例说明其应用.除冰机器人实验样机验证了四杆机构综合方法是正确的,四杆机构式竖直摆臂机构满足机器人的运动所有要求.%Deicing robot is more prospective than the manual in transmission line deicing.The design requirements of vertical swing arm device were got by analyzing motion characteristics of deicing robot fore arm (rear arm).According to motion requirements of the vertical swing arm device, a four-bar mechanism was adopted to achieve its swinging motion.Based on closeness of four-bar mechanism, a synthesis of vertical swing arm device was implemented by analyzing,and an example was used to explain its application. Deicing robot experimental prototype proved that the vertical swing arm device meet the motion require- ments of deicing robot.