摘要
根据对电力铁塔攀爬机器人夹持机构的运动和受力分析,提出并设计了一种新型双V字夹持机构,其夹持爪V形槽角度固定,大小可变,双爪联动可从多个方向对不同规格角钢夹持。建立了机构CAD模型及数学模型,并对夹持力进行了动力学仿真。进行实验室样机试验,其结果验证了这种夹持机构能够从多个方向对宽度为80～220mm不同规格的角钢进行可靠夹持,为攀爬机器人在电力铁塔移动提供可靠的夹持力。
In order to fix a power tower climbing robot on a tower reliably,a double-V-clamper was proposed.The gripping claw had a fixed angle V-groove and a variable length,so that it was possible to clamp angle bars with various specifications in different directions.The CAD and mathematical model of the clamping mechanism were put forward and the clamping force was simulated.Furthermore,prototype experiments were made in laboratory.The results showed that the gripper can grasp angle bars firmly and reliably which widths vary from 80 to 220 mm in several directions,for the three-dimension movement of the power tower climbing robots.
出处
《四川大学学报（工程科学版）》
EI
CAS
CSCD
北大核心
2010年第6期239-243,250,共6页
Journal of Sichuan University (Engineering Science Edition)
基金
四川省科技厅资助项目(2008GZ0156)
关键词
电力铁塔
攀爬机器人
夹持机构
双V字形
power tower
climbing robot
clamping mechanism
double V-shaped
