Research And Design Of Multi-unit Inspection Robot Based On The Flexible Cable Driving

Inspecting the transmission lines using inspection robot has a bright prospect,which can not only improve the inspection accuracy and safety coefficient,but also avoid checking blind spots.Based on the research status of inspection robot at home and abroad and the analysis of the working condition,this paper proposes a multiple unit inspection robot based on flexible cable driving.Mechanical structure of the inspection robot was designed,and kinematics analysis and the systematic type selection of the robot were done.Firstly,an inspection robot plan with flexible cable driving according to the original structure was presented.Process and each mode of crossing obstacles were respectively decided and analyzed.According to the working condition and modes of crossing obstacles,the parallelogram structure was optimized and the related parameters of the inspection robot were determined.Then the three-dimensional model was established by using SolidWorks.Secondly,the kinematics and Jacobi matrix of the parallelogram mechanism as well as the inspection robot were respectively conducted.In terms of the positive kinematics solution,the work space of inspection robot arm was calculated by using Monte Carlo method and the simulation analysis of inspection robot's trajectory was carried out through Matlab.Finally,the force situation of each joint of inspection robot was analyzed.Based on the analysis results,type selection of driving motors and reducers of walking wheels,holding mechanisms as well as the rotating joints in the inspection robot were respectively done.The ball screw and wire rope of every parallelogram mechanism were selected.As a result,selection design of the robot laid the foundation for further development of robot prototype.