Design and analysis of linear rod units for electricity pylons climbing robot

Abstract

For the automation of power transmission inspection and maintenance,a dual-arm articulated robot which can climb electricity pylons flexibly is proposed to perform dangerous aerial climbing detection work.The symmetrical and compact mechanism structure of the robot is developed with 2 grippers and 5-DOF,which audaciously adopts the linear rod units,which may support the dual arms well,to realize griping and loosing motion,thus the torque requirement for driving motor is substantially lessened comparing to the traditional joints design which is drived by motor with large torque directly.Then a CAD model of the linear rod units is proposed.And statics analysis and simulation using Adams software are put forword.Comparing to the traditional method drived by motor directly,the analysis and simulation results confirm that the design can reduce the torque of the motor.Prototype Experiments demonstrate that the design principle of the electricity pylons climbing robot is reasonable,and that the system are stable.