Design And Analysis Of Live Working Robot

Live working robot is a meaningful research in power field,a robot which can bring tremendous economic benefits.For this research,there are few domestic and overseas achievement and little experience used for reference.Toward to the 110 kV or 220 kV single-wire line,this passage design a live working robot which can take kinds of working tools and climb without assistant of human.This robot's walking mechanism is simple but reliable,controlled easily.After complement of design mechanical structure,dynamics kinematics study have been done in passage,and then design scheme of control system,make the prototype for experiment test.The main efforts of this passage are as following.First,according to feature of working environment and task object,designing mechanical structure of Live working robot and working tools,making detailed action plan that offer foundation for control system,robot's mechanical structure and working principle are explained in detail.Second,studying of kinematics analysis about walking mechanism and obstacle removing mechanism are made for real-time position control of walking wheel and obstacle removing mechanism.After that,mechanical study of griping mechanism,climbing mechanism and obstacle removing mechanism have been analyzed.Third,study the live working robot's walking function by analyzing dynamics of walking mechanism,calculate the maximum of climbing angle and establish simulation model in ADAMS.Taking advantage of simulation model,the feasibility of walking mechanism and maximum of climbing angle are proved.Study about case ‘s center of gravity that effect walking stability has been done to determine the best position of case.After that,checking the key component's strength by finite element analysis.Forth,based on mechanical structure,analyze the need of observation and control,and then design observation and control platform and choice main hardware equipment,formulate technical route and project of control system.Last,manufacture all component according to engineering drawing,purchase motor and standard component,finish prototype's assemble.Follow that,establish elementary electric system conduct do some primary test checking correctness of assemble.At the same time,take some measure to protect prototype from electric and magnetic disturb.Finally,make a elaborate plan about following test and test method.