Design And Analysis Of Broken Strands Reposition Metamorphic Mechanism Of Extra-High-Voltage Power Transmission Lines

Due to wave, breeze vibration and electric arc burn etc., EHV transmission lines will have different degree of damages and broken strands. If not tackled in time, they will threaten the safety of the power grid. Recently, the method of repairing broken strands is still mainly by manual operation with the condition of blackout, which not only wastes lots of resources but also lower the repair efficiency. In order to repair broken strands of EHV transmission lines, applying repair robots to operate is a better access to this problem, which also will have vast market demand and broad application prospect. However, before repairing broken strands, they must be reposited to the original state, and this point has been a bottleneck problem for repair robot. Hence, designing a repositing mechanism to cooperate with the repair robot on live lines to accomplish repositing work has become a key work for using repair robot in EHV transmission lines repair work instead of manual work.This dissertation presents a metamorphic mechanism for repositing EHV transmission lines’ broken strands, which provides a new solution for EHV transmission lines repair robot’s reposting mechanism, and as well a innovative way to apply metamorphic mechanisms to engineering problems. In detail, this paper mainly accomplishes the following works:At first, according to the specific environment of EHV transmission lines maintenance/repair robot and combining the characteristics of metamorphic mechanism, this paper presents a2-DoF metamorphic mechanism used to reposite broken strands of EHV transmission lines.Secondly, dimension synthesis of the repositing metamorphic mechanism is carried out, overall size is gotten, and kinematics is analyzed. Push force and interference quantity of the interference connecting, spring force in the metamorphic pairs and the power of the actuator are all calculated and determined.Finally, according to the design requirements, overall structural design of the repositing mechanism is carried out, virtual prototype simulation is executed using MD ADAMS which verifies the motor chosen and the key components’ strength and stiffness analysis is carried out using FEM.