Mechanical Structure and Obstacle-Navigation Simulation Analysis of Inspection Robot with Four Arms Based on Virtual Prototype Technology

Abstract

Power line inspection especially the super-high voltage four splitting transmission line inspection is of the utmost importance for the reliability and stability of electric power system. Making use of the robot technology to inspect has been a research hotspot in recent years due to its complicated geographical distribution environment. According to the characteristics of the transmission lines and inspection requirements, mechanical structure composition of a new inspection robot with four arms was firstly introduced in this paper. Based on this, the kinematics simulation and movement of the obstacle-navigation process was analyzed by ADAMS. The experiments about obstacle-navigation and climbing ability had also been conducted. Through repeated simulation and experiments, it has been verified that the robot proposed can cross obstacles smoothly, and have the advantages of high efficiency and strong climbing ability, which has great development and application potential.