Multi-Body Dynamics Analysis, Optimization And Experimental Study Of Inspection Robot

Based on the special inspecting work environment for500kV EHV overhead power transmission lines, an inspection robot is put forward, which goes ahead in the manners of scrolling mixed with creeps. The robot is able to automatically span the preventing shock hammers, suspension clamps, jumping lines and other structural barriers, also able to automatically adopt the right manner in order to adapt to different uphill roads, which have unequal slopes. It goes ahead on the uphill roads in the manner of scrolling by wheel, while the slope is small. Otherwise, it goes ahead by means of step-peristaltic crawling. Thus, the inspection robot can inspect the power transmission lines throughout without any interval. The main work and results are as follows.According to the functional requirements of inspection robot and the users’comments. the issue of inspection robot’structure is raised. And the feature-based parametric model of inspection robot is established using the software CATIA. Thereby, the virtual prototype is set up.Via the analysis in kinematical principle and work state of important implement mechanisms and transmission mechanisms, the optimization models for shaped piece brakes and the mechanical arms, including big arms and small arms, are established. It realizes that the shaped-piece brakes are optimized multi-objectively. and the whole structure of inspection robot is also optimized for maximum ability to crawl on uphill roads.The virtual prototype of inspection robot is imported into the dynamical analysis software ADAMS. Then, the model of spanning the suspension clamps was established. Then, a number of its kinematics and dynamics simulation and analyses are performed. The relevant data and graphs are also obtained during each simulation. The robot’s motion planning and some joints’driving function are determined so that the robot can span barriers successfully. By comparing the simulation results of inspection robot’s virtual prototype before and after optimization, it proves more conclusive that the robot’s structure and its optimization are reasonable, and the robot’s motion planning is feasible.