巡检机器人机械臂空间变形解析模型分析

根据高压输电线路检测环境,提出一种高压输电线路巡检机器人.以该输电线路巡检机器人为研究对象,采用Denavit-Hartenberg法建立巡检机器人的连杆坐标系,推导巡检机器人的变换矩阵.并应用微分变换法推导巡检机器人的雅可比矩阵,得到操作空间外力(速度)与关节空间内力(速度)的线性映射关系.机器人操作臂的刚度影响整个...

Analysis of Analytical Model for Space Deformation of Inspection Robot Manipulator

According to the detection environment of high-voltage transmission lines,a high-voltage transmission line inspection robot is proposed.Taking the transmission line inspection robot as the research object,the Denavit-Hartenberg method is used to established the linkage coordinate system of the inspection robot,and the transformation matrix of the inspection robot is derived.And applying the differential transformation method inspection robot Jacobian matrix is derived to obtain an external force(velocity)operating space joint space and the internal force(velocity)of the linear mappings.The stiffness off the robot operating arm affects the dynamic characteristics and positioning accuracy of the entire robot.Therefore,the deformation model of the inspection robot is established,and the influence of the deformation amount of each joint on deformation of the robot end effector is derived.Through the joint to transmit motion and power,the total deformation of the end effector due to the joint force is obtained,and the deformation of the end effector is calculated in combination with the deformation model,and the maximum deformation amount of the end is verified in ANSYS.Finally,the optimal inverse solution path is selected by the maximum deformation amount of the end effector of the robot under the unit force.