Structural design and performance analysis of moving mechanism of insulator inspection robot
by S.J. Li; Q. Yang; M. Geng; H.G. Wang; X.P. Li
International Journal of Mechanisms and Robotic Systems (IJMRS), Vol. 3, No. 2/3, 2016

Abstract: The insulator is a part of high-voltage power transmission lines. The security and reliability of power system are mainly determined by safe working of insulator. Moving mechanism of insulator inspection robot is developed to inspect potential risk and operating status of insulator, which has important application value in power engineering. Considering the working condition of insulator and mobile program of existing inspection robot, a novel foot-simulated moving mechanism of insulator inspection robot is proposed. Mobile program and structural configuration are determined, structural parameters are designed and kinematics and statics analysis are completed. Finally, a 3D virtual prototyping of the moving mechanism is built with modelling software package Solidworks 2010, practical moving process on insulator string of the mechanism is simulated with a virtual prototyping software package Adams, kinematics and statics performance are calculated by simulation. The simulation results verify structural rationality of the moving mechanism and correctness of performance analysis proposed in this paper.

Online publication date: Fri, 23-Dec-2016

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