Kinematics And Dynamics Simulation Of Inspection Robot For High-Voltage Transmission Lines Based On ADAMS

Inspection robot for high-voltage transmission lines differs substantially from the traditional industrial robot/manipulator in its mechanism and working mode, for its special working environment and task characteristics. There are limited reported results in this area, especially in its dynamics study. The inspection robot developed by Wuhan University is a mobile robot for autonomous inspection on 220 KV high-voltage transmission lines. It can autonomously negotiate obstacles (e.g., insulator chain and damper) and transfer between phase line and jumper to continue its inspection work. This paper presents kinematics and dynamics simulation of this mobile inspection robot, by utilizing 3D modeling software Unigraphics (UG) and Dynamics Analysis Software ADAMS.First, build 3D solid assembly model of the inspection robot in UG and obtain the key parameters of mass, inertia and CM (center of mass). Certain parts are simplified and united to facilitate later simulation, so that virtual model has the same structural, kinematic and dynamic characteristics with the real prototype.Then, the assembly model is imported into ADAMS in Parasolid format. Define constraints, and relevant motion functions. Run the kinematic simulation of robot crossing the suspension insulator chain in scripted simulation manner. Modify motion planning and run another simulation to avoid collision with obstacles.Later, establish FEA (Finite Element Analysis) model of a ten-meter-span transmission line in ADAMS according to the catenary formula, utilize the interactive modeling command group and macro command to model the contact force between the wheel and the FEA model of the wire (contact model has 300 contact elements), and run dynamics simulation of robot crawling on the non-obstacle section of the wire. Then investigate characteristics of robot performance and wire oscillation.Last, model 'rigid transmission line robot system' and 'flexible transmission line robot system' respectively, and analyze the effect of coupling of flexible wire and rigid robot on the inverse dynamics of the odd arm rising locomotion. In the 'flexible transmission line-robot' model, analyze the effect of the rising pace difference on the dynamic performance of the inspection robot and wire oscillation. Further, investigate effect of transmission line flexibility on robotdynamics and wire oscillation.The works in this paper, from the perspective of numerical simulation, offer references for further investigation of dynamics and control strategy of the inspection robot, and pave the way for the optimization of its structure and locomotion planning.