Posture analysis of an inspection robot for high-voltage transmission lines

摘要

An inspection robot that works along ground wires is described in this paper.The robot can navigate counterweights,clamps and some kinds of towers autonomously.The locomotion principle of counterweight-navigation is presented.Because of the deformation of the wire,the posture of the robot during navigation will be affected greatly.So a posture control strategy is proposed.Virtual prototyping technical is used to validate the strategy.It proves that the proper movement of the electric-box can adjust the robot centroid distribution efficiently.Driven torque and the power cost of the whole system both decrease a lot.And the robot works more safely.Experimental results demonstrate that the robot can be applied to execute the navigation and inspection tasks.Also,the posture control strategy is proved again.