Abstract
The power transmission line live working robot walks on the power transmission line through wheels. The robot arm and its end tools carried by the robot body can assist or even replace the manual implementation of live inspection and operation of the power transmission line. It has important theoretical significance and practical application value for improving work efficiency and solving dangerous problems in the operation process. In this paper, a single-arm live working robot is designed and developed for a variety of maintenance tasks on transmission lines. At the same time, a method of autonomous end reconfiguration on transmission line is proposed, so as to automatically realize transmission line inspections and live operation. The robot physical model and the motion planning of the robot manipulator arm for the typical fittings maintenance operation are given. The physical prototype system of the live working robot is developed through the system integration design. Finally, related live working experiments were carried out on the simulation test line so as to verify the feasibility and effectiveness of the single-arm live working robot realize the inspection operation of the power transmission line. The research in this article has important theoretical significance and practical application value for intelligent operation and maintenance management of transmission grids.
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