Abstract
Aiming at the requirements for the live detection of anti-vibration hammer appearance and the internal of the junction tube and the tension clamp, which belong to the quad bundle conductor and the twin bundle conductor, this paper studies the overall plan of the inspection robot structure, designs the mechanical structure of the robot, analyzes the robot’s kinematics capability and establishes its kinematics equation. The motion planning of the robot's obstacle-crossing and detection is completed. The robot can cross obstacles such as anti-vibration hammers, spacers, junction tubes, etc., and can detect targets on quad bundle conductor and twin bundle conductor.
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