Research On The Power Tower Climbing Robot For Transmission Line

With the development of power industry, HV, EHV power transmission technology has reached very high level, but the intelligent degree of inspection and maintenance is still very backward. It mainly relys on manual or semi manual inspection and maintenance. Transmission line tower always are built in the suburbs, and some are even on the mountain, coupled with the transmission line tower erection height are often more than a dozen meters or even tens of meters high. It is not only the labor intensity greatly, but also very dangerous by manual inspection. Therefore, it is an inevitable trend to complete the above task by robot instead of human. In this paper, we design a kind of robot, which can climb the power tower of transmission line, also carry out the kinematics analysis and gait planning, and develop the prototype, and carry out the experiment research.According to the practical application requirements, the function and performance requirements of the tower are determined, and a kind of climbing robot system is designed, which is composed of the mechanical part and the control part. The climbing motion of the robot is realized by 3 parallel rotary joints, and the position of the robot is completed by the electromagnet module. The robot is designed to be symmetrical structure, easy to process and replace parts mutually. Based on the analysis of the configuration characteristics of the robot system, the D-H method is used to carry out the kinematic modeling, including the forward and inverse kinematics equations. And then study the climbing gait planning methods, to achieve the two regular exercise and obstacle negotiation movement of objective, and the dynamics simulation by ADAMS software. The results show that the planned trajectory is smooth and suitable to control. The hardware and software of the embedded control system of the climbing robot is also developed. The core of hardware part is based on ARM processor. The algorithm software program realizes the motion planning and the communication. By using the wireless communication module of the controller, the robot can be remotely controlled.After the completion of the mechanical design, algorithm research and controller development, the assembly and debugging of the prototype of the power tower climbing robot is completed. The function and performance of the robot are tested by building the experimental platform. The results show that the designed robot has the basic function of power tower climbing.