Research On Crossing Obstacle For Inspection Mobile Robot In Transmission Line And Tower

EHV transmission line inspection robot is an important direction of current research in the field of robotics.Inspection robot can effectively avoid the low efficiency labor inspection,poor security,job difficulty higher malpractice.At present,domestic and international inspection robot inspection robot based mostly,this issue based on three four-legged robot climbing a basic configuration,the tower presents a line of dual-use inspection robot,from a transmission tower to the transmission line The full range of inspection work.This paper focuses on configuration optimization of robots to optimize and propose solutions for line inspection robot obstacle problem.First,briefly describes the domestic and international climbing robots and inspection robot research status and development trends,summarize the obstacles and climbing environment environmental requirements of transmission lines.Second,the combination of EHV transmission lines and transmission line towers inspection work requirements,we propose a three-shot quadruped robot operation program.Under the program,combined with the inspection requirements of transmission lines were structural optimization and dual tower complex line inspection robot gripper design,the use of three-dimensional modeling software Solidworks to establish a preliminary model robot machine and made a robot on the line The obstacle scheme.Again,the line for the inspection robot hung a U-shaped posture kinematics analysis.Robot due to a heavy moment for winding balance problems caused by mechanical deflection were analyzed,and an approximate angle of deflection winding solving optimization iterative algorithm,the algorithm written by matlab and got the job based on the gravity of the end of Equilibrium space cloud.Adams through matlab co-simulation results and iterative algorithm was validated.Finally,calculated the robot walks wheel drive torque and joint variables.Use solidworks for inspection robot model has been simplified,and suspension by adams the robot arm on the downhill obstacle status and process simulation to verify the reasonableness of bodies and has been a corresponding torque curve.