Research And Design On Two Arms Mobile Robot For Inspection Of Transmission Lines

Based on inspecting work for500kV high-voltage transmission lines, the project of an inspection robot, which is a two humanoid arm design,is put forward in this paper. The structural design and kinematics analysis of the inspection robot is completed. A simplified robot model is established by software Solidworks, and its motion is simulated with a dynamics simulation software Recurdyn.For the structure of the design,the rationality of mechanism design and motion project is analysed.In this paper:1. Introduce the current situation and trend of inspection robot home and abroad, summarize the impedimental environmental of500kV high-voltage transmission lines, and design the structure of inspection robot.2.Establish a connecting rod coordinate system of the robot, establish a kinematics equation according to the system, work out the equation and get its Jacobi matrix. Use Matlabsoftware to simulate the robot’s motion. This is the rationale of the following study:the analysis of position and velocity of the end effector.3. Introduce the method to calculate multi-rigid-body dynamics, calculate the multi-rigid-body dynamics equation of robot’s rising by lagranege method.4. Establish a simplified3D model of the robot by Solidworks software and make a simulation model with the3D model by Recurdyn software, and simulate the model.5. Establish the drive mode of the robot’s joints to solve the oversize torque problem in some joints.