Mechanism Design And Analysis Of Suspension Insulator Inspection Robot

The power industry has a pivotal position in the national economy, which the delivery of electricity overhead transmission lines is an important factor to affect the safe and stable operation of power systems. The insulator is an important part of the overhead transmission lines and the use of the device in the power system. Insulator during operation due to long withstand the external environment, so that the insulator to produce degradation. Deterioration of insulators of the existence poses a great threat to the safe operation of the grid. Therefore, the development of a high voltage insulator-line inspection robot has the important practical significance and application prospect for the market.This paper presents the institutional configuration of a suspension insulator inspection Robot, and structural design and simulation analysis. The main contents include: Suspension insulator testing the robot’s mechanical design, kinematics analysis, stress analysis, structural design and simulation analysis.First, according to the Suspension insulator testing the robot’s working environment and tasks, a new crawling institutional configuration of the impeller configuration on the basis of the existing institutions configurations. The agency’s configuration is consisted of the impeller crawling and transmission institutions. To achieve a degree of freedom drive four impeller rotation and to meet a simple mechanism to achieve the functionality of the robot move up and down along the Suspension insulator strings. The robot’s size is designed based on the model of the insulator.Secondly, the robot’s body’s kinematics was analyzed and the speed of the impeller movement mechanism was planning according to the kinematics analysis. The results were analyzed and from the results of mechanism motion get good and poor performance. The above analysis also provides the foundation and reference for the simulation analysis and the control.Thirdly, stress analysis is carried out, and through analysis and comparison of the force, the force conditions of all points of contact are gotten. And, by analyzing the special conditions, the force of the impeller moving bodies in the dangerous condition was found.Fourthly, according to the conclusions of the preceding analysis, the structural design of overall mechanical structure was carried out, and the finite element analyses were carried to the intensity of the key parts. The results show that these parts can operate normally in dangerous conditions.Finally, this paper uses ADAMS simulation software for robot simulation analysis. The kinematic simulation analysis shows that robot’s bodies can achieve move and test along the Suspension insulator. The stress simulation analysis shows that the robot having a good condition in work environment.