ANALYSIS OF DRIVE DYNAMIC PERFORMANCE AND POSITION-POSE OF AUTONOMOUS ROBOT FOR TRANSMISSION LINE INSPECTION

摘要

A novel inspection robot mechanism,which can implement autonomous obstacle surmounting on overhead transmission line,is presented according to the obstacle types. In order to realize continuous running and autonomous obstacle surmounting,a compounding wheel-clip is adopted.The dif- ference is very obvious in proceeding of robot running result from upgrade and downgrade,where the overhead transmission line is overhung by gravitation.When the robot is upgrade,the drive torque is obtained by the running servo motor.When the robot is downgrade,the brake torque is offered by the motor to hold robot's constant speed.The required torque,which drives the robot to run,is analyzed in speedup,constant speed, speed-down and stop modes that are involved in the mechanism parameters.The best solution of robot's mechanism parameters is determined by optimization method,which can find the minimal drive or brake torque required.It provides theoretic reference for design of inspection robot and control system scheme.