Study on Kinematics and Dynamics of Intelligent Connector of Safety Cable to Tower Imitating Crocodile Mouth Action

摘要

In this study, the safety cable and connector are conveyed to the end of the tower and reliably connected with the receiver connector at the specified position of the tower by bionic technology through the foot handles and carrier of the robot designed. By action imitation of alligator clip in prey:target recognition, approach, target revisions, snap and close lock, and usage of mechanisms coalescence, machine vision, redundancy technology, sensing, a kind of double insurance type safe rigging and fixed position of connection device was designed with reliability of connection, convenient disassembly, and safety and smoothness in service. On this basis, the kinematics and dynamics characteristics at reference points of the telescopic arm and the flexible palm finger of the connector were studied to ensure the reliability and applicability of the connector, providing the basic life safety for the operator’s climbing and operation in maintenance of the high-voltage transmission line.