| Power transmission line robot is an important research area in robotics. The research of this paper is on the support of863project, extra-high voltage power transmission line inspection robot technology and system. The research is mainly studied toward inspection robot mechanical design and experiment. The research content covers:the modeling and analysis of500kV extra-high voltage power transmission line environment, the inspection robot mechanism design, robot kinematics modeling and analysis, robot statics modeling and force characteristics analysis, robot mechanical structure design, etc. On the base of above research, the obstacle crossing experiments both in the laboratory and live line have been carried out for validation.The research contents are as follows:1. The environment for the robot inspection is briefly introduced and according to typical working condition, a3-dimensional modeling is established. Considering the operation environment and inspection task requisition, the general design of robot is implemented and robot mechanism design and analysis is accomplished.2. The kinematics modeling of inspection robot is set up. The typical work condition for inspection robot can be divided into3parts:1. crossing the obstacle on the straight line tower,2. running in the overhead ground wire without obstacles,3. crossing strained tower with subsidiary rail. The inspection robot crossing characteristic is particularly analyzed in different work condition. In addition, as the obstacles installed on the line are in different dimensional scale, adaptability of varied displacement obstacle-crossing mechanism to kinds of obstacles is analyzed.3. The statics modeling of inspection robot is set up and the force and torque equilibrium equations are represented. Based on analysis of robot performance on climbing, a constant torque gripper mechanism, which could enhance the climbing capability. And by analysis of robot force characteristics analysis, the joint torque and velocity are calculated to select a proper motor and reducer.4. Based on the analysis of mechanical design and force characteristics analysis, the transmission system is designed according to work condition request and the concrete robot mechanical structure design is also accomplished for the obstacle-crossing task. The stiffness and displace of key components are analyzed by FEA method and some optimum design are carried out on the analysis results.5. After the typical obstacle-crossing experiment is carried out in the laboratory, the experiments of line tower and strained tower crossing are carried out later in the live line. The results show that the robot design is reasonable and satisfies the request of power line inspection. The inspection robot prototype owns the capability to accomplish the inspection task in live500kV extra-high transmission line. |
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