Mechanical Design And Kinematics Simulation For The Crawler Inspection Robot

Based on description of the character of inspection methods for power transmission lines and the research status of inspection robot at home and abroad, this paper proposes structure scheme of a new crawler inspection robot for power transmission lines according to the analysis of mechanical structure at home and abroad, then the mechanical structure of inspection robot is designed and kinematics simulation is done by the scheme.Based on the bionics principle, in view of the defaults, such as big weight, complex control, fluctuation of service, this paper proposes the mechanical structure of a new crawler inspection robot for power transmission lines, in which crawler structure improves the robot's stability and climbing power; the process of control becomes simple by using the palm structure of open monomer; the whole structure becomes compact and the change of centroid becomes smooth by using the two-double structure; The total design causes the robot quality to reduce large scale, the centroid change is more steady, the stability gets to raise biggest.Based on the analysis of robot structure, this paper builds the kinematics model and the skeleton of mechanism. Based on the screw theory and vector product method, the paper forms the kinematics equation and analyzes it; at last the paper gives the Jacobian matrix by the screw theory.In the end, the paper carries on the simulation of the robot's kinematics on the basis of virtual prototype technique. The paper builds the 3D model by using UG software, the model is imported into the ADAMS from UG software by the current Parasolid format, and then the kinematics simulation is done in the ADAMS software.