Structure Design And Obstacle Navigation Trajectory Planning Of An Inspection Robot

The purpose of the paper is to design an novel multi-arm inspection robot to replace the situation that uses numbers of manual inspection.It's required that the robot can keep balance on the line and cross all kinds of power components on the transmission line.Basing on the theory of multi-arm inspection robot,the novel prototype of inspection robot is designed and manufactured with a modularization concept.The virtual prototyping technology has been applied into electromechanical integration technology to handle problems of robot obstacle navigation.First,the paper briefly describes the domestic and international inspection robots development status,summarizes the components installed on power line,and emphasizes the requirements of robot working environment.Second,according to robot requirement,the paper optimizes the structure of a multi-arm robot,designs rotation joints and the compound wheel-clamp mechanism.The 3-D modeling software SolidWorks was facilitated to establish a model of the whole robot.The software ANSYS was facilitated to compare different driving patterns having effects on parallelogram mechanism.On the base of these,the prototype of multi-arm robot was fabricated.Then,kinematics analysis is applied to different hanging line conditions of inspection robot.According to types of electrical components and the working ability of the prototype,the process of obstacle navigation is designed.Considering the multi-arm inspection robot ability of gravity balance,different obstacle navigation trajectories of inspection robot is designed to cross conponents on power line,basing on MATLAB-Robotics toolbox.Besides,according to the result of kinematics analysis on MATLAB-Robotics toolbox,dynamic analysis software Adams simulates the process of obstacle navigation with a simplify 3-D model of robot using different actuators.The characteristics and ability of robot obstacle navigation can be compared and analyzed by post processing results of dynamic simulation.In addition,the mechatronics system of robot is designed basing on SolidWorks-MATLAB-LabVIEW virtual prototype technique.The electric control system of simulation is designed by combined simulation environment with NI SoftMotion module and MathScript module.Finally,the prototype of inspection robot is tested by running and obstacle navigation on line in order that it can verifies robot working ability in reality.