Kinematic Modeling and Simulation Analysis of Ground Wire Repair Robot for High Voltage Transmission

Abstract

The Ground Wire Repair Robot is applied on the high-voltage power transmission line instead of manually repairing the ground wire of broken strands or loose strands. Because the robot needs to implement functions such as walking, obstacle avoidance, stern line, and twisted line, the robot needs to perform translation, rotation, and other actions in multiple dimensions. Therefore, the ground repair robot is a complex system with multiple motors cooperating with multiple degrees of freedom. In order to realize the precise motion control of the ground repair robot, the D-H method is used to establish a kinematics mathematical model of the ground repair robot arm mechanism. According to the geometric characteristics of the mechanism, the mapping relationship between joint space, driving space and pose space is derived. The kinematics simulation of the established mathematical model is performed in MATLAB environment to verify the correctness of the kinematics mathematical model of the ground wire repair robot arm mechanism. The ground wire repair robot is a multi-motor system, and it is very important to realize the coordination and cooperation between the various motors. Based on the research of the robot control system architecture, a multi-motor robot control system is constructed based on the driving characteristics of stepper motors and servo motors. In order to observe the mechanical model of the ground wire repair robot more intuitively, Simulink and Sim-Mechanics simulation tools in MATLAB were used to establish a multi-motor control system simulation model. According to the tasks set in advance, joint control functions are written. Through the control of multiple joints, certain simple actions are completed, visual simulation of the model is achieved, and the feasibility of the mechanical model of the ground wire repair robot is verified. The kinematics analysis and simulation research of the ground repair robot can verify the accuracy of the model and provide help for the research of multi-motor control systems.