考虑负载时变的线路巡检机器人动态性能分析.

When the power transmission line inspection robots(PTLIRs)cross obstacles, the phenomenon of control overshoot and vibration will appear due to the influence of time-varying loads. A method for analyzing the dynamic performance of PTLIRs in obstacle crossing state is studied considering the time-varying characteristics of load inertia. The dynamics equations of the slewing mechanism of the dual-arm PTLIR are established with the two-inertia-system, and further the kinematics and dynamics modeling are carried out based on the modified D-H method and Lagrangian mechanics, including assigning coordinate system, solving Lagrange’s equation, using inertia matrix to calculate the load moment of inertia, etc. The controller parameters are designed by selecting appropriate damping coefficient, and the changes of the damping coefficient and the natural angular frequency are used to analyze the dynamic performance of the PTLIR. The research results are helpful to analyze the dynamic performance of the dual-arm PTLIR affected by the time-varying load inertia when crossing obstacles, and can be used to debug the servo parameters of the robot. [ABSTRACT FROM AUTHOR]