Mechanical System Structure Design of Transmission Line Maintenance Robot

Abstract

Aiming at the problems of insufficient research and difficult control of existing transmission line maintenance robots, a modular four-wheel mobile robot mechanical configuration scheme is proposed. We analyze the working environment of the existing transmission line and the working requirements of the inspection robot. Then, the overall architecture design, function division and mechanical simulation of the robot are carried out, and a joint motion model that is easy to expand and universal is put forward. Finally, a prototype robot is developed, and corresponding software and hardware design of the control system is completed. The live line maintenance operation experiment is performed on simulated lines and actual transmission lines. The results show that the effective module division and reconstruction scheme of the configuration scheme are correct and feasible, and the joint motion trajectory of the robot is optimized, which also improves the work efficiency and safety.