Mechanism Configuration and Innovation Control System Design for Power Cable Line Mobile Maintenance Robot

Abstract

SUMMARYHigh-voltage power cables are important channels for power transmission systems. Their special geographical environment and harsh natural environment can lead to many different faults. At present, such special operations in dangerous and harsh environments are performed manually, which not only has high labor intensity and low work efficiency but also has great personal safety risks. In order to solve such difficult problems, this paper studies the power maintenance robot for insulator string replacement, spacer replacement, damper and drainage plate maintenance; the basic configuration and the operation motion planning have been proposed; and the virtual prototype of the inspection maintenance robots has been developed, and then the mechanical structure of the robots has been optimized by the robot kinematics modeling and analyzed the working space based on the Monte Carlo method. The system platform, operation function, structural characteristics and related key technologies involved in the robot system development were systematically summarized; the deep integration point for the robot technology with big data, cloud computing, artificial intelligence, and ubiquitous power Internet-of-Things technologies was also discussed. Finally, the physical prototype of the insulator replacement, drainage plate tightening, and damper replacement operation robot has been developed; several experimental tests on a 220 V live line have been conducted so as to verify the robot engineering practicality; and the main development and future research direction have also been pointed out at last.