Topic： ICCR2019 International Conference presentation
Time： Friday 8:00am,December 20,2019
Location：Room2333,Middle Building 3, Xingqing Campus
Presenter：Xin ZHANG(张欣)
Conference Name:International Conference on Control and Robots
Conference Time：December 12-14, 2019
Conference Location：Jeju island, Korea
Conference Introduction：ICCR is an academic conference in the field of control system and intelligent robot, which hold once time every year.
Information of conference paper：
Title: Design on bionic grasping mechanism for flight inspection robot landing on high-voltage transmission line
Author: Xin Zhang, Xiaodong Zhang, Haiming Shen, Haibo Xu, Shaonan Fu
Abstract: Based on the requirement of flying inspection robots, smooth landing on the turbulent high-voltage transmission line is highly crucial. In this paper, a stable bionic mechanism which can bear a heavy load is proposed. Initially, the gripper structure of four-toed linkage, as well as the leg structure of the series-parallel hybrid structure were designed based on the principle of bionics. Then the corresponding force analyses were performed to verify the rationality of the structure. The result shows that the series-parallel hybrid structure improves the stiffness of the mechanism, while the four-toed linkage structure has a strong gripping force. Moreover, by considering the process of eagle landing, the movement of the bionic mechanism was divided into five stages. To verify the effectiveness of the proposed structure for power transmission line inspection, the kinematic analysis was conducted to optimize the mechanism, and the end track of the leg structure was analyzed using MATLAB. Finally, this research provides a positive reference for the buffer design of other heavy-duty mechanisms for important engineering applications.
