Abstract
In order to ensure the safe of underground cable tunnels, it is necessary to regularly inspect the lines and equipment in the tunnel. At present, most of the existing tunnel inspection robots can only monitor the environment in the tunnel. The inspection or operation of the lines and equipment in the tunnel needs to be performed manually. In order to make up for the shortcomings of the existing tunnel inspection robots, this paper designs a new orbital mobile inspection robot with a large movement space and gives the overall design of the robot and the detailed structural design of each component. The kinematics model of the robot is established by the D-H method, and the forward kinematics solution, Jacobian matrix and inverse kinematics solution of the robot are deduced. The correctness of the robot kinematics analysis is verified by MATLAB simulation analysis. The research work in this paper lays the foundation for the follow-up research of the robot.
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