Mechanism Design and Kinematic Analysis of a Novel Inspection Robot with Four Arms

摘要

To meet the requirements of mechanical dimensions, climbing performance and obstacle negotiation capability of an inspection robot on the long-span transmission line, a novel inspection robot with four arms is designed by drawing on the research on human being’s climbing on a tree. Firstly, according to its kinematical characteristics we learned from human being’s tree climbing, the mechanism configuration of the robot on the transmission line is introduced and methods of overcoming two typical obstacles are planned. Then, its main structural parameters are provided, its kinematics equation is derived, and the analysis of kinematics performances such as grade ability and obstacle overcoming is carried out to verify the feasibility of the mechanism design. Finally, experiments on movement are conducted on the platform of virtual prototype. The results indicate that the robot has such features as excellent grade ability and obstacle overcoming performance.