Power Transmission Line Inspection Robot Inverse Kinematics Modeling and Evaluation of Dexterity

被引：0
|
作者：
Li, Xiaopeng [1 ]
Xuan, Shiyu [1 ]
Cao, Weilong [1 ]
Zhang, Meng [1 ]
Sun, Wanqi [1 ]
机构：
[1] Northeastern Univ, Sch Mech Engn & Automat, Shenyang 110819, Peoples R China
来源：
PROCEEDINGS OF THE 39TH CHINESE CONTROL CONFERENCE | 2020年
关键词：
inspection robot; D-H method; inverse kinematics; dexterity index; operability index;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
For the high voltage transmission line and the conventional manual inspection apparatus inspects low application rates mentioned problems, an adaptive high-voltage transmission line inspection robot. Based on the environmental characteristics of the high-voltage transmission line and the requirements of the inspection task, the inspection robot adopts a mechanical structure in which the arms are symmetrically distributed in the center. Taking transmission line inspection robot investigated using established inspection robot of D-H method link coordinate system, the transformation matrix is derived inspection robot. Then, the inverse kinematics modeling of the inspection robot is carried out and solved, and the analytical solution of the inverse kinematics of the inspection robot is obtained. Finally, the inverse kinesthetic solution is evaluated by the robot dexterity index and the operability index, and the optimal trajectory of the inspection robot is obtained recently.
引用
收藏
页码：837 / 842
页数：6
相关论文
共 50 条
  • [1] A Novel Tribrachiation Robot for Power Line Inspection and its Inverse Kinematics Analysis
    Yang, Dewei
    Feng, Zuren
    Zhang, Xiang
    2012 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), 2012, : 502 - 507
  • [2] Dynamic Modeling and DME Evaluation of Power Transmission Line Inspection Robots
    Li X.-P.
    Shang D.-Y.
    Li F.-J.
    Cao W.-L.
    Dongbei Daxue Xuebao/Journal of Northeastern University, 2020, 41 (09): : 1280 - 1284
  • [3] The Development of Underground Power Transmission Line Inspection Robot
    Tang, Shufeng
    Chen, Shihui
    Zhou, Peng
    Wang, Biao
    Guo, Xiaohong
    CURRENT DEVELOPMENT OF MECHANICAL ENGINEERING AND ENERGY, PTS 1 AND 2, 2014, 494-495 : 1127 - 1132
  • [4] Obstacle Detection by Power Transmission Line Inspection Robot
    Jhansi, Ravipati
    Kumar, P. A. Ashwin
    Keerthana, Sai
    Pavan, Sai
    Revant
    Duttagupta, Subhasri
    INNOVATIVE DATA COMMUNICATION TECHNOLOGIES AND APPLICATION, ICIDCA 2021, 2022, 96 : 637 - 643
  • [5] Development of a Novel Power Transmission Line Inspection Robot
    Wang, Ludan
    Liu, Fei
    Wang, Zhen
    Xu, Shaoqiang
    Cheng, Sheng
    Zhang, Jianwei
    2010 1ST INTERNATIONAL CONFERENCE ON APPLIED ROBOTICS FOR THE POWER INDUSTRY, 2010,
  • [6] Motion deblurring for a power transmission line inspection robot
    Fu, Siyao
    Zhang, Yunchu
    Zhao, Xiaoguang
    Liang, Zize
    Hou, Zengguang
    Zou, Anmin
    Tan, Min
    Ye, Wenbo
    Bo, Lian
    COMPUTATIONAL INTELLIGENCE, PT 2, PROCEEDINGS, 2006, 4114 : 866 - 871
  • [7] Visual navigation for a power transmission line inspection robot
    Zhang, Yunchu
    Fu, Siyao
    Zhao, Xiaoguang
    Liang, Zize
    Tan, Min
    Zhang, Yongqian
    COMPUTATIONAL INTELLIGENCE, PT 2, PROCEEDINGS, 2006, 4114 : 887 - 892
  • [8] Modeling and Optimal Control of a Climb-Sliding Power Transmission Line Inspection Robot
    Alhassan, Ahmad Bala
    Zhang, Xiaodong
    Shen, Haiming
    Guo, Jian
    2019 9TH IEEE ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER 2019), 2019, : 317 - 322
  • [9] Design, Modeling and Control of a Line-Walking Robot for Inspection of Power Transmission Lines
    Wang, Ludan
    Cheng, Sheng
    Guan, Haojun
    Zhang, Jianwei
    2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2009), VOLS 1-4, 2009, : 1990 - +
  • [10] Induction Power Supply System for Power Transmission Line Inspection Robot
    Yang, Mingbo
    Liang, Zize
    Li, En
    Zhang, Kailiang
    Yang, Guodong
    MATERIAL SCIENCE AND ENGINEERING TECHNOLOGY, 2012, 462 : 860 - 865
12345