Mechanism Design And Analysis Of Robot For Clearing Hazards Hanging On Transmission Line

Electric grid supports the economic development and plays an irreplaceable role in the development of today’s society. It has great relationship with the stable development of the whole society. In recent years, something light-weight floating in the air always entangles on transmission lines, which causes a number of power accidents. There is a significant increasing requirement in removing the entanglement and this type of problem takes a large proportion in electricity maintenance jobs.The entanglements clearing work is very dangerous in kinds of electricity maintenance jobs. There are two main methods to clear entanglements: the first is to remove them after cutting the power; the second is to remove them on hot-line. Both approaches need devoting much effort, resources and money but alone with high operational risk.Robot for clearing entanglements on transmission line is a kind of robot which helps lineman to remove the foreign things hanging on the transmission lines. This robot can reduce the risk of operators and improve efficiency, which has great meanings.This paper describes the working environment of this robot and analyzes the mission requirements to remove entanglements on transmission. Then choose the appropriate system scheme and work out the process sequence for the robot. Based on the mission requirements, design a mechanical structure of the robot platform. After sorting the entanglements as the categories of tiny string-like and flammable entanglements, and bulk or nor-flammable entanglements, design the corresponding tools for removing entanglements separately. To deal with the selection of the tool used to clear the entanglements, a lifting mechanism is designed to fulfill the requirement. At last, the robot was modeled based on Solid Works.Secondly, the work sequence and kinematics were analyzed with utilizing coordinate transformation method. Both forward kinematics and inverse kinematics were analyzed under a specific work environment. Then the working process was simulated in Recur Dyn and the results were analyzed in detail to find out feasibility of this robot.Finally, a physical prototype was developed and several experiments were conducted under a laboratory simulation environment. The results of experiments testified that the robot had the clearing ability for both tiny string-like and flammable entanglements, and bulk or nor-flammable entanglements. This verified the feasibility of the robot.In summary, this study is about the robot for clearing entanglements on transmission line to meet the pragmatic requirement of power line maintenance work. The robot consists of a robot platform, a heating clearing tool, a clearing tool by blade and a lifting mechanism. The robot can remove both tiny string-like and flammable entanglements and bulk or nor-flammable entanglements separately. Developed a prototype and verify the correctness and the effectiveness of the robot.