爬坡状态下输电导线巡检探伤机器人行走姿态控制方法
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中图分类号：TP242 文献标志码：B 文章编号：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
巡检探伤机器人在输电导线运维领域中的应用，不仅可以在很大程度上提高巡检的工作效率，还能够避免人工登塔作业的危险。（剩余6204字）