Abstract
In response to the problems of high labor intensity, high risk, and poor reliability of artificial live working, a four-wheel-driven spacer bar replacement mobile operation robot has been designed and developed in this paper, and the corresponding kinematic and dynamics model have been established, based on the established double models, the kinematics and dynamics numerical analysis can be realized through INVENTOR and ADAMS, respectively, based on the established kinematics and dynamics models . The results show that the simulation value of the robot joint displacement, velocity, acceleration, and joint force can be able to meet the requirements of kinematic and dynamic constraints during the robot operation. The robot prototype can meet the requirement of dual-split robot working space and the operation joint force control, which not only extend the robot adaptability to the multisplit lines heterogeneous operation environment but also provide an important theoretical technical support for the exploit of the robot physical prototype. Through the robot kinematics and dynamics analysis, the robot mechanical structure parameters and electrical control parameters have been effectively optimized. The weight and cost of the robot have been reduced by 12% and 15% compared to the existed studies. Finally, the robot principle prototype mobile platform has been developed, and the correctness of robot kinematics and dynamics simulation analysis has been verified through the robot principle prototype mobile platform.
Highlights
High-voltage transmission lines have an important impact on the development and stability operation of the power industry, which need regular maintenance so as to ensure the stability of overhead high-voltage transmission lines
Che et al and Aracil et al [1, 2] give the structure of the multisplit transmission lines and through the data from grid companies indicate that the multisplit transmission lines are the main channel to undertake the power transmission; the most typical representative of this kind line is the double-split conductor
Based on the abovementioned analysis, this paper developed a fourwheel-driven spacer bar maintenance robot for doublesplit transmission lines, as shown in references [19, 20], and proposed a motion planning and control method for disassembly and installation of spacer bars; a virtual robot prototype has been designed; the simulation results show that the developed robot system meets the requirements of the workspace and the force control between the robot and the operation object in the operation process. e research studies have important theoretical significance and practical application value to improve power system automation
Summary
High-voltage transmission lines have an important impact on the development and stability operation of the power industry, which need regular maintenance so as to ensure the stability of overhead high-voltage transmission lines. With its operation environment being heterogeneous, which has been elaborated in reference [14], and more complex, it puts forward higher requirements for the operation Another important way is to use the power cable robot as Xu et al [15] descript. Based on the abovementioned analysis, this paper developed a fourwheel-driven spacer bar maintenance robot for doublesplit transmission lines, as shown in references [19, 20], and proposed a motion planning and control method for disassembly and installation of spacer bars; a virtual robot prototype has been designed; the simulation results show that the developed robot system meets the requirements of the workspace and the force control between the robot and the operation object in the operation process. Based on the abovementioned analysis, this paper developed a fourwheel-driven spacer bar maintenance robot for doublesplit transmission lines, as shown in references [19, 20], and proposed a motion planning and control method for disassembly and installation of spacer bars; a virtual robot prototype has been designed; the simulation results show that the developed robot system meets the requirements of the workspace and the force control between the robot and the operation object in the operation process. e research studies have important theoretical significance and practical application value to improve power system automation
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