期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2013
卷号：10
期号：9
页码：330
DOI：10.5772/56767
语种：English
出版社：SAGE Publications
摘要：In this paper, the methods of a snake-like robot climbing on high voltage transmission lines are presented. The three typical locomotion modes of a snake-like robot, that is, rectilinear locomotion with a Zshaped clamping mechanism, obstacle navigation locomotion with a head part clamping mechanism and winding obstacle navigation locomotion, are discussed. The motion mechanism of the snake-like robot's head part clamping obstacle navigation is studied and the kinematics model coupled with the robot and the line environment under this mode is introduced. The position tracking algorithm and the improved algorithm of robot's clamping obstacle navigation are also proposed. Finally, the simulation experiment verifies that the improved position tracking algorithm can improve the robot's motion performance and is feasible in the robot's clamping obstacle navigation.
关键词：Snake-Like Robot; High Voltage Transmission Lines; Clamping; Obstacle Navigation; Climbing
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