Modeling And Motion Optimization Of Modular Robot For Power Transmission Line Tasks

As the exploration and reformation of the nature by human becomes more and more wide, we can find human trail almost everywhere in nature. Consequently, robots become the tools for us to explore and reform in some high-risk situations. Being a kind of high-risk task, power transmission online operation also needs robots to help it. The common power transmission online operation includes inspection and maintenance. In this paper, the author completed many power transmission line tasks(PTLTs) successfully by installing modular manipulator on the inspection platform. The automatic modeling for modular manipulator and motion optimization is also finished smoothly.Firstly, the author analyze the features of PTLTs and came up with some realization methods in this paper. By using these methods, a specified gripper was designed.Secondly, the PTLTs were completed by installing modular manipulator on the inspection platform. Because of modular manipulator’s reconfigurability, there are many ways of configuration to fit it. A method of automatic modeling of modular manipulator was introduced in this paper. For the convenience of programming and calculation, the manipulator configuration was expressed by the way of assembly incidence matrix. Base on the tasks’ features, the author put forward an index called Velocity Local Performance Criterion(VLPC). By product-of-exponential, adaptive mesh generation and differential transform methods, realized automatic calculation in modular manipulator positive and athwart kinematics, working space index and VLPC. A GUI interface is also designed to get the optimal configuration according to these indexes.Thirdly, this paper made a motion optimization analysis of screwing manipulation, which was one of the PTLTs, according to the relevant working methods. The author use D-H method to calculate kinematics and make sure the uniqueness of inverse kinematics by geometric method. Established a mathematical model of the task and put forward the method of motion optimization according to kinematics, statics and energy consumption index. By using ADAMS to analyze the model, verified the feasibility and the correctness of the method at a certain degree.In the end, the author verified the feasibility of the methods by conducting experiments of PTLTs. The paper includes three parts: the proposal of working methods, the automatic modeling of modular manipulator and motion optimization. On the whole, this paper reaches its goal by combining theory with experiments.