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题名	悬垂绝缘子检测机器人机构设计与分析
作者	何磊
学位类别	硕士
答辩日期	2014-05-28
授予单位	中国科学院沈阳自动化研究所
导师	王洪光
关键词	悬垂绝缘子检测 机构设计 并联机构 运动学 仿真
其他题名	Mechanism Design and Analysis of Suspension Insulator Detection Robot
学位专业	控制工程
中文摘要	随着社会的发展，激增的工农业和居民用电需求和技术的进步促使电力系统的容量不断增大、额定电压等级也不断提高。与此同时，架空输电线路中的污闪事故也不断增多。尤其是最近美国、加拿大发生的大面积电网停电事故，更给电力系统以深刻的警示，对高压输电线路绝缘子的预防检测愈来愈重视，对绝缘子检测仪器的要求也愈来愈高。电网中由于不良绝缘子造成的线路闪络事故时常发生，已给国民经济造成了巨大的损失。因此，检测高压输电线路的不良绝缘子已成为国内外电力部门十分关注的一个问题。 传统上，绝缘子检测主要是依靠人工登塔进行检测，但在实际应用中一方面由于超高压输电线绝缘子所处的特殊电气环境，要么存在较大的安全隐患，要么检测效果受到天气、温度、湿度等环境因素的影响；另一方面，由于架空输电线路中绝缘子的数量众多，存在人工检测劳动强度大，工作效率低等问题。 悬垂绝缘子检测机器人是一类辅助人工在高空、高压的复杂电磁环境中对架空输电线路悬垂绝缘子串中低值和零值绝缘子进行检测的机器人，能够很大程度的减小工作人员风险、减少停电检修时间、及时准确发现事故隐患，具有很大的发展前景和研究意义。 本文首先阐述了绝缘子检测的意义与目前绝缘子检测的主要方法，分析比较了国内外研究机构在悬垂绝缘子检测机器人领域的发展现状，明确了本课题的主要研究内容和研究工作。 然后，分析了悬垂绝缘子检测机器人的工作环境与任务需求。在明确机器人工作任务与工作需求的基础上，通过比较筛选不同类型行走机构提出了一种复合式的悬垂绝缘子检测机器人机构，最终完成了机器人机构的总体方案设计。 其次，利用矢量几何的方法对该机构进行了位置、速度与加速度正反解的分析。通过蒙特卡洛法并利用MATLAB绘图确定了该机构的工作空间，并且完成了机构的静力学分析，对机构进行了总体尺寸设计。 最后，按照设计的尺寸，在SolidWorks中建立了机器人机构的总体三维模型。根据检测任务与需求，规划了机构动作的流程，将三维模型导入ADAMS对机构检测绝缘子的运动过程进行了仿真。 综上所述，本文提出了一种复合式的悬垂绝缘子检测机器人机构，并通过运动学分析与运动过程仿真验证了机构的可行性。
索取号	TP242.3/H32/2014
英文摘要	As the development of industry, the increase of power system’s capacity and the improvement of voltage grade, the problem of power transmission lines’ pollution flashover is becoming increasingly prominent. Especially in recent, the accidents of massive blackout that happened in the United States and Canada have conveyed serious warnings to the power system. With more emphasis being laid on the precaution and detection of high voltage transmission lines’ insulator, the requirements for the insulator detection devices are more and more demanding. In China, accidents of lines’ flashover happen frequently due to insulators of poor quality, which has caused great loss to the national economy. Thus, the detection of high voltage transmission lines’ insulators has aroused great public concern. Traditionally, the work of insulator detection is usually done by workers, mainly including: inspecting the surface of insulator via telescope under the tower; scanning the surface temperature by using infrared thermometer; detecting the spread voltage by workers climbing on the tower, etc. On the one hand, due to the special electrical environment around the super high voltage lines’ insulators, these operations are either a potential security liability or influenced negatively by the environment factors, such as weather, temperature, humidity, or sort of; on the other hand, because of the massive insulators on the overhead transmission lines, problems such as high labor intensity for workers and low work efficiency are inevitable. Suspension insulator detection robot is a kind of assistive mechanism that can help workers detect the low-value and zero-value insulators on the overhead transmission lines especially in complex electromagnetic environment of high altitude and high voltage. This kind of robot is able to greatly reduce the workers’ operation risks and the power-cut maintenance time, and it can also find out accident potential timely, which has great development prospect and research significance. To begin with, the significance of insulator detection and the current methods used to detect insulators are set forth. Analyze and compare the development of suspension insulator detection robot both in China and abroad, and as well indicate the main research content and research work in this project. Moreover, analyze the working environment and mission requirements of the suspension insulator detection robot. Design a serial-parallel combined mechanism by comparing various types of mechanism based on the work content and requirements, and also complete the overall program design. In addition, analyze the mechanism’s location, velocity and acceleration by the geometric vector method. Calculate the mechanism’s operation space via Matlab. Then implement statics analysis and overall dimensions design for the mechanism. Finally, build the 3D model of the robot’s mechanism in SolidWorks based on the design size. Program the movements’ process for the mechanism according to the detection task and requirements, and import the 3D model into ADAMS to simulate the detection procedure. In sum, a serial-parallel combined mechanism for suspension insulator detection robot is presented in this project, and its feasibility is demonstrated via kinematics analysis and movements’ process simulations.
语种	中文
产权排序	1
页码	73页
分类号	TP242.3
内容类型	学位论文
源URL	[http://ir.sia.ac.cn/handle/173321/14817]
专题	沈阳自动化研究所_空间自动化技术研究室
推荐引用方式 GB/T 7714	何磊. 悬垂绝缘子检测机器人机构设计与分析[D]. 中国科学院沈阳自动化研究所. 2014.

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