毕业设计（论文）-电力巡检机器人设计（全套图纸）.docx

陈铭博:电力巡检机器人设计  PAGE \* MERGEFORMAT 2  PAGE \* MERGEFORMAT II  MACROBUTTON MTEditEquationSection2 Equation Chapter 1 Section 1 SEQ MTEqn \r \h \* MERGEFORMAT  SEQ MTSec \r 1 \h \* MERGEFORMAT  SEQ MTChap \r 1 \h \* MERGEFORMAT  中文题目：电力巡检机器人设计 外文题目：Electrical inspection robot design 全套图纸，加153893706 毕业设计（论文）共 62 页（其中：外文文献及译文17页） 图纸共4张 完成日期 2015年6月 答辩日期 2015年6月   PAGE \* MERGEFORMAT II  PAGE \* MERGEFORMAT I 摘要 高压输电线路故障引发停电，给人民生活、工业企业和国家造成了巨大的经济损失。需要及时发现输电线路的隐患和缺陷，并进行修复，防患于未然，必须对输电线进行定期的巡检。巡检机器人是一种近距离巡???线路和修复缺陷的工具。 针对巡检机器人作业任务需求和输电线路障碍环境特点,提出了一种新型双臂式巡检机器人机构,在串联关节型手臂机构中增加了并联柔索。建立了巡检机器人的静力学模型和运动学模型, 给出了机器人在线路上静止时力和力矩平衡方程，并仿真分析了典型越障过程中机器人手臂关节的受力状态。 根据机器人受力状态的分析结果，计算出各个关节力矩及转速，选出适合的电机及减速器。根据实际需求进行了各个关节的传动系统设计。 关键词:巡检机器人;双臂;柔索;越障  Abstract The huge economy loss is brought to the people, enterprise and nation for the power failure. The defections of power line should be found and repaired. The periodical check must be fulfilled in the power transmission line.The inspection robot is a kind of tool used to check and repair the power transmission line in the close distance. Based on the working task requirements of inspection robot and the characteristics of obstacles on high voltage transmission lines, a novel dual-arm inspection robot is designed by adding the parallel flexible cable into the series-joints arm. Established inspection robot statics model and kinematics model, robot is given on static force and moment balance equations .The joints stress states of the robotic arm in representative obstacle-crossing are analyzed by simulation. According to the analysis of the robot mechanical condition, calculate the various joint torque and rotational speed, choose the suitable motor and reducer. According to the actual demand for the various joints of the transmission system design. Keywords: inspection robot; dual-arm; flexible cable; obstacle-crossing  目录 TOC \o 1-3 \h \z \u   HYPERLINK \l _Toc421730605 前言  PAGEREF _Toc42173