DocumentCode :
3518576
Title :
Dynamic Coupling Simulation of a Power Transmission Line Inspection Robot with its Flexible Moving Path when Overcoming Obstacles
Author :
Xiao, Xiaohui ; Wu, Gongping ; Li, Sanping
Author_Institution :
Wuhan Univ., Wuhan
fYear :
2007
fDate :
22-25 Sept. 2007
Firstpage :
326
Lastpage :
331
Abstract :
The influence of the flexibility moving path-overhead transmission line -on the inspection robot´s dynamic response performance is studied through coupling dynamic simulation. First, a rigid multi-body dynamic model of the robot and a flexible multi-body dynamic model of a span of transmission line were built with Lagrange equation and modal synthesis method, respectively. Then the two models were coupled in the grasping point under two typical postures of passing obstacles. The dynamic response simulation of each posture was carried out with three different spans of flexible overhead transmission line. The laws governing impacts of flexible job environment upon the robot´s dynamic response performance are explored through simulation results comparison and analysis.
Keywords :
modal analysis; power transmission lines; Lagrange equation; dynamic coupling simulation; inspection robot; modal synthesis; overhead transmission line; power transmission line; Couplings; Inspection; Instruments; Mechanical engineering; Power engineering and energy; Power transmission lines; Robotics and automation; Robots; Transmission line theory; USA Councils;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Automation Science and Engineering, 2007. CASE 2007. IEEE International Conference on
Conference_Location :
Scottsdale, AZ
Print_ISBN :
978-1-4244-1154-2
Electronic_ISBN :
978-1-4244-1154-2
Type :
conf
DOI :
10.1109/COASE.2007.4341691
Filename :
4341691
Link To Document :
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