CAJ | 학술논문

为了提升高压巡线机器人的在高压线缆上的运动和越障能力，设计了一个两自由度模块化关节，将其运用到机器人上。该关节采用模块化设计，组装简单更换维修方便，降低了与机器人其他机构的耦合性。模块化关节采用差速传动原理，利用正交的三个锥齿轮实现关节旋转和俯仰两个方向的运动，使其运动更加灵活。关节采用两级减速，减速比达860，同时采用双电机驱动，驱动力矩是两电机驱动力矩的合成，使关节具有很强的负载能力。在旋转方向和俯仰方向均有位置传感器进行位置检测，提高的关节的检测精度和控制精度。该关节集机械、电器、控制于一体，具有高集成度的特点。
위료제승고압순선궤기인적재고압선람상적운동화월장능력，설계료일개량자유도모괴화관절，장기운용도궤기인상。해관절채용모괴화설계，조장간단경환유수방편，강저료여궤기인기타궤구적우합성。모괴화관절채용차속전동원리，이용정교적삼개추치륜실현관절선전화부앙량개방향적운동，사기운동경가령활。관절채용량급감속，감속비체860，동시채용쌍전궤구동，구동력구시량전궤구동력구적합성，사관절구유흔강적부재능력。재선전방향화부앙방향균유위치전감기진행위치검측，제고적관절적검측정도화공제정도。해관절집궤계、전기、공제우일체，구유고집성도적특점。
This paper proposes a modular joint with 2 degrees of freedom (2DOF) for power transmission lines inspection robot. The proposed 2DOF joint improves the movement ability and has advantage of obstacles avoidance. The joint adopts the modular design concept and can be assembled simply and maintained easily. What’s more, it reduces the coupling with other mechanical structures. The differential transmission principle is used to design the joint and three orthogonal bevel gears are used to realize the joint’s pitch motion and the rotary motion which make the joint more flexible. The modular joint has a double reduction with 860 reduction ratio. There are two motors as the power source and the driving moment is the synthesis of the two motor torques, which makes the joint a strong load capacity. There are two position sensors at the pitch freedom and rotation freedom for position detection to improve joint’s detection precision and control precision. The joint integrates mechanical, electrical and control system and having the characteristics of high integration.