Abstract
In order to design the humanoid dual-arms high voltage transmission line inspection robot, the robot model is given and the working mechanism of the robot crossing obstacles is introduced, and the motion trajectory of the robot when it is moving is analyzed. The dynamic equations of the serial driven and the serial-parallel driven robotic arm are presented based on Lagrange equation and the dynamic characteristics of the wrist and elbow joint are simulated. The numerical simulation result of the serial driven robotic arm shows that the elbow joint has great torque when the robot moves horizontally and vertically. However, the numerical simulation result of the serial-parallel driven robotic arm shows that the elbow joint torque reduces greatly comparing with the serial driven arm. By analyzing the results of the simulation experiment, it can be seen that this serial-parallel combination driven joint with flexible-cable can reduce the elbow torque greatly and improve the load capacity of robotic arm comparing with the serial driven joint, which can solve the problem that the torque of serial driven joint in dual-arms inspection robot is too high.
Highlights
Robotic driven system is one of the important parts of the robotic technology study
A new kind of the series-parallel Chinese medicine massage robot based on 2-DOF parallel mechanism was presented in the reference [4], which could meet the requirements of Chinese medicine massage
In order to reduce the torque of the elbow joint, using the characteristics of the flexible-cable driven mode such as small inertial, high bearing capacity, a flexible-cable connects the wrist joint with the end of upper arm, which will become parallel driven with the elbow joint
Summary
Robotic driven system is one of the important parts of the robotic technology study. The characteristics of the parallel driven robot are high stiffness, precision and speed, but the workspace and flexibility of the parallel driven robot are poor [1]. With designing the humanoid dual-arms high voltage transmission line inspection robot shown in Fig., a kind of new-type serial-parallel combination driven joint that combine parallel flexible-cable driven mode in serial joint is designed, which is shown in Fig.. In order to reduce the torque, power and weight of the driven motor of the elbow joint, a flexible-cable is installed between the wrist joint and the end of upper arm, which can parallel balance the robot with the elbow joint as shown in Fig.. As shown in Fig. (b), it is a limit position of the robot in crossing obstacle process, while the left driven wheel is locked and the forearm can be regarded as connecting the fixture through the wrist joint.
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