Research on De-icing Robot and Its Motion Characteristics Overhead Transmission Line

摘要

In recent years, most areas of our country are suffering transmission line ice-coating disasters caused by cold weather. Aiming at this phenomenon, this paper designs a robot that not only can avoid the various fittings on the line, but also can cross the tension tower of phase line to jumper line. According to the development status of the deicing robot at home and abroad, the specific environment of the transmission line, as well as the function of crossing obstacle and tension tower, the design specifications and structural scheme is presented. On the basis of the mechanical structure design, the motion characteristics of deicing robot is researched, and the virtual prototype of the robot is simulated based on ADAMS, and key research is the factors which affect the gravity center when the robot crosses obstacle and tower. With the analysis of factors mentioned, robot stability greatly improved.