Research on an intelligent electric inspection robot

Abstract

Due to the bad environment of electric power inspection, it is easy to cause physical injury to the inspectors. Besides, the heavy workload of inspection is easy to cause the omission of the wireman that leading to major accidents. In order to avoid the mistakes in the process of electric inspection, an intelligent robot for independent inspection instead of manual operation is proposed in this paper. Firstly, the overall configuration of the robot is designed, a four-wheel active driving wheeled mobile mechanism is adopted and the dual parallel camera with three degrees of freedom is carried to inspect the faults existing in the power equipment. Secondly, based on the nonholonomic constraints, the kinematics analysis of the robot is carried out, and the variation laws of the velocity and angular velocity are obtained. In addition, based on the theory of finite element analysis, the modal analysis of the key parts of the robot is carried out to avoid resonance when working to affect the inspection accuracy. Finally, the motion process of the robot in various environments is simulated to verify the correctness of the robot kinematics model and the rationality of the structure design. According to the simulation results, the robot can run stably in typical environments.