A Novel Running and Gripping Mechanism Design Based on Centroid Adjustment

Abstract

One arm is hung on the overhead ground wires (OGWs), the other is off from OGW when inspection robot autonomously negotiates obstacles on OGWs. The tilt of inspection robot's body is happened because the gravity torque is unbalance, and it is difficult to obstacle negotiating autonomous for inspection robot. If the horizontal pose of the body is kept through the gripping mechanism, the gripping force will become bigger, and result in the damage of OGWs. A centroid adjustment method, which enables the centroid of inspection robot to concentrate on the arm that is hung on OGWs, is proposed in this paper. That idea is applied in design about running and gripping mechanism will ameliorate the strained condition of OGWs and reduce the extent of damage. Dynamic model is established in this paper, the simulation results and the experiments outcomes test that the method proposed is feasible.