| The paper proposed a new inspecting robot, which can walk along the Ground Wire above the500kv high-voltage power transmission lines, and performed simulation.The mechanism carries out the online travel and inspection tasks by roller walking type. This paper established a virtual prototype of the inspecting robot using PRO/E and performed static strength analysis of the machine by means of ANSYS. Finally, dynamic simulation was executed on the robot and the process of online walking of the robot was simulated.Then the stability of the power control box was analyzed throughout the travel.The main contents in this article as follows:1. This paper briefly elaborated the research background of the inspection robot, the damage of the line and the development status of the robot at home and abroad.2. According to characteristics of transmission line and barriers on-line, the movement principle of the robot was proposed. the model of the key components of the inspection robot based on above principle in PRO/E was created and the robot was assembled in virtual assembly modules in PRO/E.3. The paper analyzed actual needs of the robot inspection tasks. and then the motion control and detection system was rationally distributed.4. According to the design parameters of the model, the creation of the robot model was simplified in ADAMS and the process of the robot moving on line was simulated under the circumstance of rigid and flexible lines. The reasonableness and feasibility of the robot were verified and the main design parameters of the robot were obtained, which provides an experimental basis for the next theoretical and experimental studies. |
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