绝缘子清扫机器人的动力学建模及轨迹优化

研究了支柱型绝缘子带电清扫机器人伸缩臂运动引起升降臂振动的问题，将升降臂和伸缩臂分别建模为柔性臂和刚性臂，形成末端具有移动刚体的柔性臂系统，在假设模态法的基础上建立了系统的Lagrange动力学模型，建模考虑了大多数柔性臂模型忽略的重力和非线性耦合的影响，分析了伸缩臂全局运动与升降臂局部振动的相互影响。提出一种单变量优化方法，以升降臂的残余变形能为性能指标，优化伸缩臂的运动轨迹，降低升降臂的残余振动。应用该方法对梯形速度曲线进行了优化，结果表明可以有效地控制升降臂的残余振动。该方法计算量小，便于在线实现。

Dynamics Modeling and Trajectory Optimization for Cleaning Robot with Hotline Insulators

The elevating manipulator of a cleaning robot with hotline insulators vibrates due to motion of the moving manipulator. The elevating manipulator and the moving one are modeled as a flexible link and a rigid one, respectively, a flexible manipulator with a moving rigid payload on the end is proposed. Lagrange dynamic model is established based on the assumed mode method. The influence of gravity and nonlinear coupling neglected in most other models is considered. The relationship between global motion of the rigid manipulator and local vibration of the flexible one is analyzed. A single variable optimization technique is proposed to optimize trajectory of the rigid moving manipulator and to minimize residual vibration of the flexible elevating manipulator. The performance index is potential energy of residual deflection of the flexible manipulator. Optimization of the trapezoid velocity trajectory is performed. Result shows that residual vibration of elevating manipulator can be effectively controlled. The advantage of the approach is fast computation and ease to realize inline optimization.