Operation Motion Planning and Principle Prototype Design of Four-Wheel-Driven Mobile Robot for High-Voltage Double-Split Transmission Lines
Joint Authors
Li, Hong Jun
Jiang, Wei
Yan, Yu
Zhang, An
Zuo, Gan
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-17, 17 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-03-19
Country of Publication
Egypt
No. of Pages
17
Main Subjects
Abstract EN
In response to the problems of high labor intensity, high risk, and poor reliability of artificial live working, a four-wheel-driven spacer bar replacement mobile operation robot has been designed and developed in this paper, and the corresponding kinematic and dynamics model have been established, based on the established double models, the kinematics and dynamics numerical analysis can be realized through INVENTOR and ADAMS, respectively, based on the established kinematics and dynamics models .
The results show that the simulation value of the robot joint displacement, velocity, acceleration, and joint force can be able to meet the requirements of kinematic and dynamic constraints during the robot operation.
The robot prototype can meet the requirement of dual-split robot working space and the operation joint force control, which not only extend the robot adaptability to the multisplit lines heterogeneous operation environment but also provide an important theoretical technical support for the exploit of the robot physical prototype.
Through the robot kinematics and dynamics analysis, the robot mechanical structure parameters and electrical control parameters have been effectively optimized.
The weight and cost of the robot have been reduced by 12% and 15% compared to the existed studies.
Finally, the robot principle prototype mobile platform has been developed, and the correctness of robot kinematics and dynamics simulation analysis has been verified through the robot principle prototype mobile platform.
American Psychological Association (APA)
Li, Hong Jun& Jiang, Wei& Yan, Yu& Zhang, An& Zuo, Gan. 2020. Operation Motion Planning and Principle Prototype Design of Four-Wheel-Driven Mobile Robot for High-Voltage Double-Split Transmission Lines. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-17.
https://search.emarefa.net/detail/BIM-1196582
Modern Language Association (MLA)
Li, Hong Jun…[et al.]. Operation Motion Planning and Principle Prototype Design of Four-Wheel-Driven Mobile Robot for High-Voltage Double-Split Transmission Lines. Mathematical Problems in Engineering No. 2020 (2020), pp.1-17.
https://search.emarefa.net/detail/BIM-1196582
American Medical Association (AMA)
Li, Hong Jun& Jiang, Wei& Yan, Yu& Zhang, An& Zuo, Gan. Operation Motion Planning and Principle Prototype Design of Four-Wheel-Driven Mobile Robot for High-Voltage Double-Split Transmission Lines. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-17.
https://search.emarefa.net/detail/BIM-1196582
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1196582