作者：苏睿¹, 李刚俊¹, 郭成操¹, 张欢¹, 黄杨森²

作者单位：1. 成都工业学院智能制造学院，四川 成都 611730;
2. 中国东方电气集团有限公司, 四川 成都 611731

关键词：机器人;输电线;铁塔;ADAMS;动力学

摘要：

针对输电线路机器人在线作业或移动时状态不清晰的问题，研究输电线、机器人以及铁塔的刚柔耦合动力学响应。首先，通过UG软件创建铁塔、机器人三维实体模型，采用连续体法建立输电线三维模型，并设置装配约束关系。然后，模型导入 ADAMS 软件，并定义柔、刚体。最后，仿真得到机器人质心与输电线中点在XYZ方向的速度与加速度，以及机器人内部电机的力矩变化。将软件仿真得到的机器人质心位移与电机力矩的曲线与数值模型仿真结果进行比对，分析其结果差异率，进一步明确柔性输电线与刚性机器人之间的动力学关系，可为输电线路机器人的优化设计提供理论参考。

Simulation of rigid and flexible coupling dynamics for inspection robot
SU Rui¹, LI Gangjun¹, GUO Chengcao¹, ZHANG Huan¹, HUANG Yangsen²
1. School of Intelligent Manufacturing, Chengdu Technological University, Chengdu 611730, China;
2. Dongfang Electric Corporation, Chengdu 611731, China
Abstract: In order to study the rigid flexible coupling dynamic response of transmission line, robot and tower when the transmission line robot works or moves online. The 3D entity model of tower and robot is built by UG and 3D model of transmission line is established by continuum method. The assembly constraint relationship among the model is set. Then, the model was imported into ADAMS software, and flexible and rigid bodies were defined. Finally, the velocity and acceleration of the robot's center of mass and the midpoint of the transmission line in the XYZ direction, as well as the curve about the torque of the robot’s internal motor are obtained by simulation. The curves of robot centroid displacement and motor torque obtained by software simulation are compared with the simulation results of numerical model, and the difference rate of the results is analyzed. The dynamic relationship between the flexible transmission line, rigid robot and tower are further clarified. A theoretical reference for the optimal design of the electric line robot is provided.
Keywords: robot;transmission line;tower;ADAMS;dynamics
2021, 47(11):75-79  收稿日期: 2021-09-08;收到修改稿日期: 2021-10-06
基金项目: 国家自然科学基金资助项目（51705041）；四川省应用基础研究重点项目（18YYJC）
作者简介: 苏睿（1988-），男，四川遂宁市人，副教授，博士，研究方向为机器人动力学分析
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