Mechanical structure design of ontology of the automatic line-tracking inspection device based on Pro/E modeling and the kinematics analysis

doi:10.4028/www.scientific.net/AMM.220-223.1131

CORC > 兰州理工大学 > 兰州理工大学 > 机电工程学院

	Mechanical structure design of ontology of the automatic line-tracking inspection device based on Pro/E modeling and the kinematics analysis
	Luo, Shengmei 1; Tian, Le 2; Zhang, Bo 2
	2012
关键词	automatic line-tracking inspection device mechanical structure Pro/E modeling on-line and off-line automatically obstacle negotiation kinematics analysis
卷号	220-223
DOI	10.4028/www.scientific.net/AMM.220-223.1131
页码	1131-+
英文摘要	A new line-tracking inspection device which can move on the high voltage transmission lines and control on the ground by people is presented in this paper. The device has three mechanical arms, every arm can lift and rotate automatically, and manipulator can open and close automatically. The flexible design is used in lower riding wheel, this design can make the upper and lower riding wheel automatically adjustment, so as to adapt to the change of wire diameter. Automatic checking and autonomous negotiating obstacles are realized successfully in this device. The biggest breakthrough is that its automatic on-line or off-line can be completed by operator operating the auxiliary tools on the ground. This article uses the Pro/E modeling software set up the virtual prototype of the line-tracking inspection device based on characteristic parameter model. The process of on-line or off-line automatically and the process of negotiating obstacles are discussed in this paper. Using the product of exponentials formula based the on screw theory, the kinematics analysis is processed in this paper. The forward and inverse solution of kinematics equations is presented and at last the Jacobian matrix is given. The results of experiments with simulation transmission lines demonstrate that the device has realized the specified work tasks and runs smoothly.
会议录	ADVANCES IN MANUFACTURING TECHNOLOGY, PTS 1-4
会议录出版者	TRANS TECH PUBLICATIONS LTD
会议录出版地	KREUZSTRASSE 10, 8635 DURNTEN-ZURICH, SWITZERLAND
语种	英语
WOS研究方向	Engineering ; Materials Science
WOS记录号	WOS:000316033600229
内容类型	会议论文
源URL	[http://119.78.100.223/handle/2XXMBERH/37273]
专题	机电工程学院
作者单位	1.Lanzhou Univ Technol, Key Lab Digital Mfg Technol & Applicat, Minist Educ, Lanzhou, Peoples R China; 2.Lanzhou Univ Technol Lanzhou, Sch Mech & Elect Engn, Lanzhou, Peoples R China
推荐引用方式 GB/T 7714	Luo, Shengmei,Tian, Le,Zhang, Bo. Mechanical structure design of ontology of the automatic line-tracking inspection device based on Pro/E modeling and the kinematics analysis[C]. 见:.