Design Of Rotary Unit And Obstacle Surmounting Simulation Of Chain Overhead Line Mobile Robot

At present,the mechanical structure of overhead line mobile robots at home and abroad is generally relatively simple,and there are problems of insufficient robot adaptability,excessive mass,and insufficient steering angle.In order to solve this problem,this paper combines the research foundation of the previous generation of chain overhead line mobile robots and carries out a modular design of its structure.A new type of composite deflection joint and pitch module is proposed.The design research of yaw joint and pitch module was carried out.The robot’s obstacle crossing process was planned and simulated and analyzed,and a new type of composite deflection joint experimental prototype was built.A type of compound deflection joint is proposed and a specific design scheme is given.Research shows that compared to the previous generation of deflection joints,the deflection angle of the deflection joint is increased by 64.49°,and a robot kinematics model based on the new joint is established.The Monte Carlo method is used to simulate the robot workspace based on the two joints,and conduct a comparativeanalysis.The results show that under the same joint size,the new joint can increase the x-y plane projection of the overhead line mobile robot’s obstacle crossing workspace by 325mm（x direction）and 145mm（y direction）respectively.The dynamic simulation software is used to simulate the motion of the new composite deflection joint.Thesimulation results show that the motion process of the new composite deflection joint is stable.A pitch module based on a parallelogram mechanism design is proposed,which adopts a diagonal driving method to realize the pitch motion of the robot arm.The pitch module uses a single-motor flexible cable diagonal driving unit mechanism to meetthe requirements of lightweight robots,fewer driving motors,and control methods.Simple requirements,strong practicability.It can be used in various occasions by changing its connection mode.The dynamic simulation software is used to simulate its motion.The simulation results show that the pitch module is stable in motion.According to the obstacle environment of the line,the overhead line mobile robobased on the new joint and pitch module is planned for the obstacle crossing process,and the obstacle crossing simulation analysis is carried out.The results show that the obstacle crossing process of each arm is stable.A type of composite joint experimental prototype was built and deflection experiments were carried out.Simulation and experimental results show that the proposed new robot mechanism meets the requirements of the task of moving overhead lines.