Analysis on the characteristics for a new differential crawling device of an insulator inspection robot

作     者：Li, Xiaopeng Pan, Wujiu Li, Shujun Wang, Xinqi Wang, Hongguang 

作者机构：School of Mechanical Engineering and Automation Northeastern University Shenyang110819 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110819 China Dalian Engineering Construction Co. Ltd. of China First Heavy Industries Dalian116000 China 

出 版 物：《International Journal of Industrial and Systems Engineering》 (Int. J. Ind. Syst. Eng.)

年 卷 期：2018年第30卷第4期

页      面：512-535页

核心收录：

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 08[工学] 0811[工学-控制科学与工程] 

基　　金：The authors would like to acknowledge the financial support of the National Natural Science Foundation of China (NSFC) (Grant no. 51575091 and no. 51275079)  and the State Key Laboratory of Robotics of China (2015-O04). The authors also thank the anonymous reviewers for their valuable comments. Fundamental Research Funds for the Central Universities(N160306003) 

主　　题：Errors 

摘      要：In order to realise the synchronous drive of the insulator inspection robot with a simple control system, a single drive crawling device of the robot is designed. This device has a three-degree freedom (3-DOF) differential drive system which can be driven by a motor to make the three sets of arm crawl synchronously. It has a certain ability of self-adaption and compensating output errors. First, the crawling device s assembly model of insulator inspection robot is designed. Then the kinematics analysis is established. In addition, a kineto-statics model is founded to analyse the total torque and the stress state of the contact points when the device is crawling. Finally, simulation is used to analyse and the error adjustment of crawling device is studied. After theoretical analysis and dynamic simulation of the crawling device, results show that it has a certain ability of error adjustment. © 2018 Inderscience Enterprises Ltd.