| Based on inspecting work for high-voltage power transmission lines, the project of an inspection robot, which is a crawl mechanism combination of step and wheel, is put forward in the paper. The structural design and kinematics analysis of the inspection robot is completed. By three-dimensional parameter modeling software CATIA, the virtual prototype of this robot is set up. By mechanical system dynamics simulation software ADAMS, simulation on the kinematics of the robot mechanism is run and the practical motion state of the robot is simulated. For the rational structure of the inspection robot, the rationality of mechanism design and motion project has been verified through simulation and analysis. At last the rational design project is gained.In this paper:1 The technology of inspection robots as well as the domestic and international current situation of the development trend is briefly introduced. The plan of design of the inspection robot for extra-high voltage power transmission lines in the subject is put forward.2 By CATIA software, the virtual prototype of the inspection robot based on characteristic parameter model is set up.3 For studying the mechanism, the data of the operator arm of the inspection robot are analyzed such as the angle displacement, the angle velocity and so on.4 By CAT/ADAMS module the virtual prototype of the robot is imported to ADAMS software. Based on ADAMS the simulation model is set up, the simulation is run and the simulation plot is gained. It verifies the rationality and exactness of the motion project and structural design of the inspection robot and lays a solid foundation for the follow-up study of the robot. |
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