博士生张欣参加国际会议回国报告

汇报题目：参加ICCR2019国际会议回国汇报

汇报时间：2019年12月20日（星期五）8：00

汇报地方：中三楼-2333

汇报人：张欣

会议名称：International Conference on Control and Robots

会议时间：2019年12月12日至14日

会议地点：Jeju island, Korea

会议简介：ICCR is an academic conference in the field of control system and intelligent robot, which hold once time every year. (ICCR是控制系统和智能机器人领域的学术会议,每年举办一次)

参会论文信息：

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.