摘要
分析了高压输电线路巡线作业机器人的结构特征,用Lagrange方法建立了多刚体系统动力学模型。基于此动力学模型,对一种典型工况进行了动力学正问题仿真,验证了该模型的正确性。
The structure character of power transmission lines inspection robot is analysed and the multibody motion differential equations are deduced.on the basis of Lagrange'principle.The dynamic simulation and experiment study of one type posture are accomplished and the dynamic model is verified by the experimental results.
出处
《机械与电子》
2004年第10期44-47,共4页
Machinery & Electronics
基金
国家 八六三"计划资助项目(2002AA420110)
关键词
巡线机器人
动力学建模
LAGRANGE
方法
power transmission lines inspection robot
dynamic modeling
Lagrange principle
