Kinematics and dynamics simulation of inspection robot for power transmission line

摘要

Abstract:-Kinematics and dynamics simulation of a double-arms mobile inspection robot for 220kV overhead high-voltage transmission line is performed based on virtual prototyping technology. Modeling and simulation research of inspection robot in task environment are carried out with UG three-dimensional solid modeling function and ADAMS dynamics simulation function. Based on the simulation result, the relationship between joint movement, track of the inspection robot arm end, and joint driving moment is attained. Therefore, the research result provides theoretical basis for the inspection robot’s motion programming.