| The safety and reliability of the overhead transmission lines are the guarantee for the operation of the power transmission system.Overhead transmission lines cause line failures due to various factors such as the external environment,which threaten the safe operation of power systems,and the accidents and losses caused by them are also increasing.In order to ensure the safe operation of overhead transmission lines,it is necessary to strengthen the operation and maintenance of overhead transmission lines.The detection of overhead transmission lines is mainly manual and helicopter inspection methods.Such detection methods have the disadvantages of high cost,high labor intensity and low efficiency.In recent years,many research institutes have done a lot of research on overhead transmission line inspection robots,but the actual application is not extensive,and the effect is not satisfactory.Based on the above reasons,this article designs an overhead transmission line inspectionrobot based on the requirements of the inspection task of the overhead transmission line.It has a compact structure,strong adaptability,and can overcome various transmission line obstacles.The main content of the paper includes analytical modeling and analysis of overhead power transmission line inspection robot motion planning(level road running,climbing,obstacle,etc.),inspection robot structure design,inspection robot manipulator kinematics analysis and spatial deformation.Dynamic Modeling based inspection robot Lagrange method and the Newton-Euler method,physical prototype trial and Experimental Research.The main contents of the thesis are as follows:(1)The motion planning and structural design of the overhead transmission line inspection robot are combined with the requirements of different working conditions and different configurations.First analyze the environment of the overhead transmission line,classify the obstacles of the overhead transmission line,and then perform motion planning for the obstacle-free walking state and obstacle crossing state of the inspection robot,and determine the optimal overall size of the inspection robot according to the transmission line environment and the obstacle crossing needs of the robot.And use NX/UG for 3D modeling design.(2)The inverse kinematics model of the inspection robot was established based on the D-H method,and the motion trajectory performance was evaluated based on the dexterity and operability indicators.First,the coordinate system of the connecting rod of the robot is established,and the transformation matrix of the connecting rod is derived.Then,the inverse kinematics model of the inspection robot is established and the inverse kinematics analytical solution is obtained.Finally,evaluate the inverse kinematics of the robot path dexterity indicators and operational indicators,and then get better performance inspection robot trajectory.(3)The establishment of an analytical model of the space deformation of the inspection robot,and the deformation analysis of the end effector in different paths is performed.Inspection robot applications derived differential transformation Jacobian matrix,to obtain external space operation(velocity)joint space and the internal force(velocity)of the linear mappings.Then establish inspection robot operating arm stiffness matrix,derived flexibility matrix of the robot end.Analyze the deformation of the end effector due to the force of each joint through the joint transmission motion and power.Combine the deformation model to calculate the maximum deformation of the end effector.Finally,use the finite element method to verify the maximum deformation of the end effector.(4)Based on the Lagrange and Newton-Euler method,the dynamic modeling and performance evaluation of the inspection robot were obtained,and the analytical expressions and numerical solutions of the driving force of each joint under different paths were obtained,which provided the basis for motion control.The Lagrange dynamic model of inspection robot is established,and the Lagrange function and the second type Lagrange dynamic equation are derived.Furthermore,the inertia matrix of the operating arm of the inspection robot is obtained.Establish the evaluation index of robot dynamic performance based on the inertial matrix of the operating arm:GIE and DME.Combined with the kinematics inverse solution,the GIE and DME indicators are used to establish generalized inertial ellipsoids and dynamic operability indicators of different spatial trajectory coordinates,respectively.Based on the link transformation matrix,the speed and acceleration of the coordinate system of the link are deduced,and the equations of mass center velocity and acceleration of the line following robot are derived.Then,the dynamics model of the line inspection robot based on the Newton-Euler iterative equation is established,and the joint internal force of the inverse solution path,that is,the joint driving force of the inspection robot,is established to establish the basis for control.Finally,the robot’s global dynamic performance indicators:PIA and PIV are introduced in combination with the speed,acceleration and joint internal force of the robot,and the comprehensive performance indicators of PIC are determined according to the different weights of the PIA and PIV indicators.(5)Experimental study and related inspection robot prototype production.Through the combination of machining and 3D printing technology,a prototype of the inspection robot is produced,an experimental environment of the inspection robot is established,an online operation test of the robot,a climbing ability test,and a test of crossing overhanging obstacles are performed.Verify the feasibility of transmission line inspection robot design,and then verify the correctness of theoretical analysis and simulation analysis.Through research,the design of a patrol inspection robot with symmetrical arms center,variable configuration,adjustable center of gravity,and a variety of transmission line obstacles was completed.Firstly,the inverse kinematics model of the robot is established and the dexterity is evaluated to obtain the optimal path of motion.Then the space deformation model of the manipulator is established,and the analytical expressions of the deformation and movement path of the end effector are obtained.Then based on the dynamic model of the inspection robot,the analytical expressions of the driving force of each joint in different paths and their numerical solutions provide a basis for motion control.Finally,the prototype of the inspection robot prototype and related experimental research were completed,which verified the feasibility of the mechanism design and the correctness of the theoretical analysis. |
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