爬坡狀態(tài)下輸電導(dǎo)線巡檢探傷機(jī)器人行走姿態(tài)控制方法

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中圖分類號：TP242 文獻(xiàn)標(biāo)志碼：B 文章編號：1671-5276（2025）03-0229-05

Walking Attitude Control Method for Transmission Line Inspection and Flaw Detection Robot in Climbing State

FENG Shuaijun，WANG Fangfang，TAN Xinghua，CHEN Ruibin，TONG Hailong （Henan StarDetection Technology Co.，Ltd.，Xuchang461OoO，China）

Abstract：Duringtheclimbingprocessofinspectionandflawdetectionobots intheenvironmentof ransmisionlines，theirma center mayshiftwiththechangeof slope，resulting indeviations betweencontrolparametersandactualwalking states，and afectingthestabiltyof walkingposturecontrol.Toaleviatethedefect，awalking posturecontrolmethodfortransmisionline inspectionandflawdetectionrobotinclimbingstateisproposed.Basedontheanalysisoftheresultantforceandresultanttorque oftherobot'scenterofmass，thenonholonomicconstraintequationof therobotintheclimbingstateissolvedtodeterminethe stabilityconditionoftherobotspostureintheclimbingstate.Corespondingdynamicmathematicalmodelsareestablishedbased onthe threerobot walkingatitudeanglesofrollangle，pitchangle，andyawangle.Robot walking posturecontrolparametersare generatedbycalculating theoccupancycoeffcientof therobotduringawalkingcycle.Testsshowthatthewalking postureof the inspectionandflawdetectionrobotcontrolledbythismethodisrelativelystable，whichmeetstheworkrequirementsofpower transmission line inspection and flaw detection.

Keywords：robot walkingposture；transmision lines；inspectionandflawdetectionrobot；climbingstate；walking posture control；gait control

0 引言

巡檢探傷機(jī)器人在輸電導(dǎo)線運(yùn)維領(lǐng)域中的應(yīng)用，不僅可以在很大程度上提高巡檢的工作效率，還能夠避免人工登塔作業(yè)的危險(xiǎn)。（剩余6204字）