变电站挂轨巡检机器人升降台动态特性分析

Dynamic Characteristic Analysis of the Lifting Platform of a Track-Hanging Inspection Robot in Substation

摘要: 本文根据重庆市某变电站的挂轨巡检机器人升降台结构设计方案，在ansys平台下建立其有限元分析模型，求得了系统的前十阶固有频率和结构的强弱分布，确定了结构分析的重点为升降平台的位置变化对观测成像视轴稳定的影响。定义了描述成像视轴空间参量及其计算方法，并在冲击载荷作用下计算分析了挂轨巡检机器人瞬态响应，总结了成像视轴的响应规律。分析结果为变电站挂轨巡检机器人总体结构振动分析和视觉抖动补偿提供方法参考，为系统动力学优化设计提供理论依据。

Abstract: According to the structural design scheme of lifting platform for the inspection robot of track- hanging in a Substation of Chongqing, the FEA model is established with the software Ansys Work- bench. The first ten natural frequencies and the distributions of the structural strength are obtained, and determined that how the change of positions of the platform affects the LOS (line of sight) stabilization is the key point of structural analysis. So the parameters and the method of calculation are defined to describe the variance of the LOS. Finally, the transient responses of these parameters in a track-hanging inspection robot due to an impact load are analyzed, and the response law of the imaging visual axis is summarized. The analysis results provide methods and reference for the overall structure of the substation rail inspection robot vibration analysis and visual jitter compensation, and provide the theoretical basis for system dynamics optimization design.