Design and Dynamic Simulation of Single-arm Inspection Robot System for Transmission Lines

Abstract

Overhead transmission line energized maintenance is a necessary means to maintain the safe and stable operation of electric power, common energized operation tasks require manual tower operation, and inspection robots are gradually becoming a powerful tool as an alternative or auxiliary manual energized operation, but conventional inspection robots have problems such as difficulty in getting on and off the line, single operation function, weak intelligent behavior, etc. Therefore, this paper proposes a new method of intelligent cooperative operation between a large-load UAV and a power inspection robot, a transmission line single-arm inspection robot mechanical system has been designed, the Lagrangian method has been used to model and analyze, and the theoretical model basis for the drive selection of the robot arm joint has been established. On this basis, a virtual prototype model is established in ADMAS software, and the dynamics characteristics have been simulated and analyzed. Finally, an online operation experiment was carried out on the actual live line, the results show that the single-arm inspection robot mechanism designed in this paper meets the requirements of conventional live line operation inspection, it is easy to control and can be precisely positioned. The research in this paper can solve the bottleneck problem of robot practicality, which has important theoretical significance and practical application value for the safety, stability, and intelligent operation and maintenance management of power transmission lines.