中文摘要：

针对磁悬浮式高压线巡检机器人的运行方式和总体结构设计了避障机构,该机构由平面连杆机构和丝杠螺母机构组成,具有两个自由度,通过对两个原动件控制,使机器人具有开合壳体,翻转避障的功能。机构简单,运动灵活,结构紧凑,占用空间小,能够有效避开防震锤、线夹、直线塔等多种障碍,并解决了机器人内部空间狭小与避障要求空间大的矛盾。对避障机构进行静力学分析,求得两原动件联动关系,最后通过Pro/E软件对越障过程进行运动学仿真,验证了该机构越障方案的可行性。

英文摘要：

An obstacle avoidance mechanism is designed for the operation mode and the overall structure of high-voltage power lines inspection robot based on magnetic levitation principle. The mechanism is composed of a planar linkage mechanism and a screw nut mechanism with two degrees of freedom. Through the control of two of the original,the robot has a function of opening the shell and obstacle avoidance. The mechanism is simple and occupies less space with flexible movement,compact structure,to meet the requirements of obstacle avoidance to avoid vibration hammer,clamp,straight line towers and other obstacles effectively which solves the contradiction between the small space in the robot and the obstacle avoidance requirements. Two prime bar linkage relationship is obtained according to static analysis of the mechanism. Finally,by means of kinematics simulation of the obstacle process through Pro/E software,the feasibility of the institution obstacle scheme is verified.