The Design Of De-icing Robot Structure For High-voltage Transmission Power Line

The ice coating and snow in transmission power line can cause many accidents, such as power line tripping, tower falling down and wire broken, icing flashover, communicate discontinuity and so on. Ice storm cases have occurred over the world, which leads to huge economic losses. The traditional de-icing method is inefficient and unsafe. Therefore, it becomes very urgent to research new de-icing methods replacing manual de-icing. In this paper, on the research background of transmission power line de-icing equipment, a single de-icing robot is designed and developed, with characteristics such as low power consumption, low cost, high efficiency, no casualties, no power failure, continuous operation etc. This robot can be used to de-ice transmission power line, and also to inspect transmission power line, which has great future.Firstly, the ice storm serious effect on power transmission is presented by cases. Then, the development and classification of various de-icing techniques at home and abroad are introduced. Furthermore, the research of de-icing robots developed is analyzed and concluded in this paper.Secondly, the operating environment of de-icing robot is represented, including the basic structure of transmission power line, the main types of obstacle. Based on this, a variety of design of de-icing robot is proposed, including obstacle navigation design, de-icing design and energy supply design. Then, through analysis and argument, the single de-icing robot design is chosen as the main research object of this article.Thirdly, the research and development process of single de-icing robot is presented, which consists of four parts:hanging and driving mechanism, clamping and braking mechanism, de-icing mechanism and control system. A prototype of single de-icing robot is produced based on this design, and be tested in online operation experiment.Finally, a structure of de-icing robot with three arms is designed, and be analyzed in kinematics. A modified CCD algorithm suitable for solving problems associated with motion-coupled joints was developed in this paper, and the effectiveness and convergence of CCD algorithm with constraints were discussed. Meanwhile, an example of inverse kinematics of de-icing robot is given. The result of the experiment could confirm that trial values of joint angles should be limited at the neighborhood of inverse kinematic solutions without constraints when the motion-coupled relationship exists between joints.