Power Transmission Line Inspection Robot Inverse Kinematics Modeling and Evaluation of Dexterity

摘要

For the high voltage transmission line and the conventional manual inspection apparatus inspects low application rates mentioned problems, an adaptive high-voltage transmission line inspection robot. Based on the environmental characteristics of the high-voltage transmission line and the requirements of the inspection task, the inspection robot adopts a mechanical structure in which the arms are symmetrically distributed in the center. Taking transmission line inspection robot investigated using established inspection robot of D-H method link coordinate system, the transformation matrix is derived inspection robot. Then, the inverse kinematics modeling of the inspection robot is carried out and solved, and the analytical solution of the inverse kinematics of the inspection robot is obtained. Finally, the inverse kinesthetic solution is evaluated by the robot dexterity index and the operability index, and the optimal trajectory of the inspection robot is obtained recently.