Mechanism Design And Flexible Body Simulation Of Inspection Robot For Extra-High Voltage Power Transmission Lines

Based on inspecting work for high-voltage power transmission lines, a new type of inspecting robot is proposed, the mechanism design and flexible simulation is discussed in the paper. This inspecting robot adopts a hybrid moving mechanism which combines step and wheel. First, by using the 3D modeling software UG, a virtual 3D prototype of the robot is set up, and then, and using mechanical system dynamics simulation software ANSYS to create model neutral file, finally, using ADAMS to simulate the mechanism dynamics of the robot. The bidirectional data interface between ANSYS and ADAMS is convenient to process the affect of flexible components on the mechanism movement and obtain the analysis results of stress and strain based on precisely analyzing the dynamics of the robot. 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 using UG software, the virtual prototype of the inspection robot based on characteristic parameter model is set up.3. Save the prototype file of UG as the format of Parasolid. Port this file into ANSYS for mesh generation of the flexible arm. By ANSYS, the changing of the stress and strain can be gained when the arm crossing obstacles. Also, using ANSYS can create ADAMS/Flex flexible component and model neutral file.4. 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.5. Using ADAMS/Flex in ADAMS/View to generate flexible component for simulation, measuring static force deformation or stress of the joint, and comparing the maximum static force deformation/stress with the results of ANSYS under the same constraint condition. For the advanced analysis based on rigid dynamics analysis, the deformation of the flexible component itself should be considered during the simulation. That makes the analysis results more practical and easier to testify the rationality.