Design And Research Of Robot For Overhead Line Maintenace

A line maintenance robot in order to solve the shortcomings on safety,efficiency and cost of manual operation and helicopter operation is designed after considering the regular inspection and maintenance of transmission lines and equipments.First,after analyzing the working environment of the robot,the content of the assignment is concluded and parameters of the robot is confirmed.After analyzing and comparing different types of operating arms,telescopic arms,lifting arms,drive and transmission,schemes of each part of the robot is defined.Then,specific structure proposals of each parts of the robot are designed and confirmed.Secondly,models of the operation,surpport,trek and frame were designed,each key component is calibrated by static analysis after comparing the allowable normal stress and deflection.Components with low stress and large size are improved by milling runway holes after analyzing mechanical properties,and engineering prototype is manufactured.Power components such as motors,reducers and encoders are calculated and selected.Thirdly,minimum distance between each component and obstacles is defined after analyzing the relationship between displacement and time so interference will not occur.The model of virtual prototype is established and motion of operating is simulated after analyzing robot’s kinematics.After analyzing contanct conditons of wheels and wires,an improved expression of coefficient of friction is concluded.The deflection of the wire with vertical loaded is analyzed,and the simulation models verified its accuracy.Finally,the stability analysis results of the robot when attaching wires is defined after analyzing the deflection under the side wind with different wind levels.The harmonic response of the robot’s effector due to the vibration of wires because of side winds is defined,and robot’s ability of operation is verified after comparing design specifications.The guidance for the operation and attachment under different weather conditions of the robot is provided after integrating various analyses.