Design and Analysis of Hybrid Robots for Powerline Inspection

摘要

Hybrid robots, which combine crawling and flying capabilities, have gained significant attention in recent years due to their potential in powerline inspection. This paper provides insights into the design of hybrid robots, offering a comprehensive analysis of the system’s design requirements and its solutions. Firstly, we present a detailed overview of the hybrid robot’s system architecture, encompassing the design aspects of its mechanical, hardware, and software components. Secondly, we analyze the dynamics of the robot in crawling mode, deducing the conditions necessary for maintaining balance on powerlines and traversing inclined powerlines. Thirdly, we investigated the kinematics and dynamics of the robot in flight mode, examining how the structural design of the hybrid robot specifically impacts its system dynamics and control responsiveness. Finally, we verify our analyses through a series of simulations and real-world tests, confirming the effectiveness and feasibility of the design strategies presented.