Modeling and Analysis of a Flying-Walking Power Line Inspection Robot

摘要

Power line Inspection is the key to maintain the safety and reliability of the power system. To ensure the safety of power line inspection work, automatic detection technology is widely used in power line inspection. A novel flying-walking power line inspection robot (FPLIR) is proposed in this paper, which has two working modes, flying modes and walking modes. The basic structure of the FPLIR is described, and the dynamic equations of the FPLIR are derived. The stability of FPLIR under wind load is simulated, and simulation data are analyzed by the response surface. The results showed that average centroid displacement is approximately linear with the wind speed, and the relationship between the wind angle and average centroid displacement is nonlinear. When the wind angle is 31° and the wind speed is 14m/s, the FPLIR is most affected by wind. The stability of the FPLIR is analyzed by rigid-flexible coupling simulation and response surface, providing a theoretical basis and technical references to control FPLIR walking in a stable scope.