Mechanism Design and Crawling Process Force Analysis of Inspection Robot for Power Transmission Lines

Abstract

According to the equipment configuration of the power transmission lines and the demand analysis of lines inspection, an inspection robot for power transmission lines with a mechanical arm, which can be opened and closed symmetrically, is designed. The robot can be picked up to the transmission lines by the cargo UAV. The robot is reciprocated on power transmission lines between two towers and the obstacle crossing strategy is presented based on its working characteristics. The power transmission lines between the adjacent electric towers are catenary curve. When there is a dip angle on the power transmission lines, the traveling dynamic characteristics of the inspection robot could be influenced greatly. For this case, the catenary parameter equation of the lines is deduced. By using of normal isometric curve of lines equation, the trajectory curve equation of the crawling wheel center is obtained. Considered the factors of sliding friction and rolling friction along the crawling wheel, the relation model between driving torque of the front and rear wheels along the transmission lines and horizontally driving distance is established. Finally, the correctness of the model is verified numerically by the example of 220kV high-voltage power transmission lines. According to this model, the posture and driving torque of the robot can be calculated at any point on the lines, which would provide data support for subsequent structural design and system control.