Design And Analysis On Metamorphic Moving Mechanism Of The Robot For Inspecting Insulators

China has entered the "13th Five-Year" at the beginning of the year,which means that the use and demand of all walks of life to the power system is also increasing.Insulator is an important part of overhead transmission line,and it is also one of the largest device usage in the power system.In practice,insulators are exposed to the outside world for a long time.They are easily affected by different natural conditions,such as prolonged wind and sun,rain,snow and frost,etc.will shorten their normal life.The existing traditional insulator's detection method is not only inefficient,but also the accuracy is not high.Therefore,it is of great significance in power industry and the national economy to develop a moving mechanism for the detection of insulators used to comprehensively detect and assess the use of insulators status and to identify potential problems.In this paper,a new mechanism for the movement of the insulator detection robot is proposed based on the theory of metamorphic mechanism.The main contents of this paper include the mechanism and the corresponding structure design,configuration transformation and random working configurations analysis,kinematics and static analysis,dynamic analysis,three-dimensional software modeling and virtual prototype simulation analysis.Firstly,the moving mechanism of the robot for detecting insulators is proposed.Through the analysis of the external conditions and the mission requirements of the insulator detection,the task to complete is clear.According to the research of the current metamorphic mechanism and related theories,the moving mechanism and the configuration of each part are determined,and the corresponding kinematic analysis is carried out.Secondly,the equivalent resistance gradient model is used to analyze the state transformation process.The metamorphic cyclogram of moving mechanism is established.By using the equivalent resistance gradient model to analyze the force in the process of the configuration transformation,the random effects of the different parameters on the process of the configuration transformation are obtained.Thirdly,3D modeling and strength analysis and dynamic characteristics analysis are Completed.The software Solidworks on the metamorphic moving mechanism for three-dimensional modeling is used.The strength of key parts is analyzed by Workbench software,and the dynamic equation of metamorphic moving mechanism is established by using Lagrange equation.Then the corresponding dynamic analysis is obtained.Finally,the virtual prototype simulation software ADAMS is used to test the whole work simulation.The different insulator strings with the metamorphic moving mechanism of the robot are simulated.And the corresponding diagrams of different parameters are drawn,consistent with the theory which proves that the design of the metamorphic moving mechanism is successful.