| The character of the power transmission lines inspection and the advance of the robot for inspection of high voltage power transmission lines at home and abroad are introduced in this paper. Based on the research of the 863 program "Research of the mechanical structure of the robot for 110KV power transmission lines inspection", the robot structure, the design method and the kinetic analysis are described in detail. And the prototype is made and tested on the testing line, that shown that the designed robot can fulfill all the tasks.The paper first explains the spanning equipment of 110KV power transmission lines and analyzes the key questions in inspection robot study. According to the line setting, a new inspection robot is designed, of which the mechanical design detailed is given in the paper. And the sample is manufactured and passes the experimental tests. Furthermore, the robot kinematics analysis is finished, and the kinematics function, the Jocobi matrix and the inverse solution are achieved. Except that, the power transmission line obstacles feature and several modern mechanical design methods are introduced in the paper.The inspection robot study has been checked and accepted by National 863 Program experts group in Feb, 2005, which was valuated that it was creative and possessed main functions for inspection tasks. Two invention patents and two utility patents concerning the study are applied. |
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