Abstract
A new line-tracking inspection device which can move on the high voltage transmission lines and control on the ground by people is presented in this paper. The device has three mechanical arms, every arm can lift and rotate automatically, and manipulator can open and close automatically. The flexible design is used in lower riding wheel, this design can make the upper and lower riding wheel automatically adjustment, so as to adapt to the change of wire diameter. Automatic checking and autonomous negotiating obstacles are realized successfully in this device. The biggest breakthrough is that its automatic on-line or off-line can be completed by operator operating the auxiliary tools on the ground. This article uses the Pro/E modeling software set up the virtual prototype of the line-tracking inspection device based on characteristic parameter model. The process of on-line or off-line automatically and the process of negotiating obstacles are discussed in this paper. Using the product of exponentials formula based the on screw theory, the kinematics analysis is processed in this paper. The forward and inverse solution of kinematics equations is presented and at last the Jacobian matrix is given. The results of experiments with simulation transmission lines demonstrate that the device has realized the specified work tasks and runs smoothly.
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