An Inspection Robot for High Voltage Power Transmission Line and Its Dynamics Study

Abstract

Through kinematic analysis, dynamics modelling, simulation and tests, we can conclude as follows: 1) The proposed double-arms inspction robot prototype can fulfill full-path kinematic target, including moving along the no-obstacle segment, overcoming the obstacles, and varying moving paths. 2)The flexible working path decreases the perfomance of the robot, but the robot is capable of carrying out the preset kinematic target along flexible path. More detailed dynamics analysis can refer to other papers (Xiao et al., 2005, 2006, 2007 & 2008). The model proposed in this chapter are far from fully demonstrating the actuality and those nonlinear factors in flexible obstructive inspection work environment. Further research is conducting to improve the robot's dynamic performance, such as: considering the flexibility of the joints and robot arm on dynamic model improvement, simulation for obstacle-overcoming in flexible working environment, and the effects of natural wind loading, etc. The chapter proposed an inspection robot for 220kV phase line, and detailed the three generation prototypes developed in the past decade. Under the support of "863 Plan" and NSF in China, the research is now performing in further perfect of the robot prototype and reliability for feild application. The futre plan is to expand mobile robot technical platform in inspection robot to the application of icebreaking and repairing on transmission.