农网配电网架空线路机器人攀爬机构参数优化研究

为了提升农网配电网架空线路机器人的综合性能,提出了一种新的农网配电网架空线路机器人攀爬机构参数优化方法。使用 Creo Parametric 软件构建农网配电网架空线路机器人攀爬机构的三维模型,在 Workbench 中导入该模型,通过网格划分完成攀爬机构有限元模型构建;根据所构建的模型对机器人攀爬机构实施有限元分析,分析攀爬机构的应力分配与整体变形情况;在攀爬机构的参数优化中,在确定相关设计变量后构建参数优化目标函数,通过枚举法求解参数优化目标函数,获取优化后的参数取值。仿真测试结果表明,设计方法实现了攀爬状态下驱动力矩的提升、加速度的平稳化、竖直方向相对质心位置的降低以及攀爬速度的提升,说明该方法可以有效提升农网配电网架空线路机器人的综合性能,有一定实际意义。

Research on Parameter Optimization of Robot Climbing Mechanism for Overhead Line of Rural Power Distribution Network

In order to improve the comprehensive performance of overhead line robot in rural distribution network , a new parameter optimization method of climbing mechanism of overhead line robot in rural distribution network is proposed.The three-dimensional model of robot climbing mechanism for overhead line of rural distribution network is constructed by using Creo Parametric software.The model is imported into the Workbench , and the finite element model of the climbing mechanism is built through meshing.According to the constructed model , the finite element analysis of the robot climbing mechanism is carried out to analyze the stress distribution and overall deformation of the climbing mechanism.In the parameter optimization of climbing mechanism , the parameter optimization objective function is constructed after determining the relevant design variables , and the parameter optimization objective function is solved by enumeration method to obtain the optimized parameter value.The simulation test results show that the design method can improve the driving torque , stabilize the acceleration , reduce the relative centroid position in the vertical direction and improve the climbing speed.It shows that this method can effectively improve the comprehensive performance of the overhead line robot in rural power distribution network , and has a certain practical significance.