Kinematic and Static Analysis of Mobile Dual Arm Robot Traversing Through A Multi-Stranded Wire

摘要

Wire traversing robot is the best choice for safer and efficient power line inspection and it helps in crossing of obstacles present in the wire. In recent years, researchers and academicians developed suspended type robots in wires capable of traversing through dangerous and restricted areas. Design aspects of a 10 DOF dual arm robot are presented in this paper. Dual arm is used for traversing through straight wires and also for crossing obstacles. Aim of this paper is to open out the significance of kinematic and static analysis in the design. Kinematic, static and dynamic analysis is performed for the mobile base and dual arm of the robot. Link parameters of the arm are obtained using workspace analysis.