| With the rapid development of smart grids,the safety of overhead transmission lines has received more and more attention,and the use of robots for line inspection has gradually become a hot spot in robot application research.During the inspection process,the inspection robot must overcome obstacles and be affected by wind loads and wire vibrations.It exhibits complex nonlinear dynamic response characteristics,which affects the robot’s configuration transformation,obstacle crossing,and posture.Effective control such as regulation and stability leads to problems such as robot structural instability and obstacle failure,which can not meet the requirements of inspection of transmission lines.Therefore,this paper takes the newly designed transmission line inspection robot as the specific object,and studies the transmission coupling-wind-inspection robot system built around the transmission tower-line-inspection robot system.It provides a reference for controlling the robot’s posture changes in space.The main research contents are as follows:(1)Based on the working environment and task requirements of the transmission line inspection robot,perform a kinematics analysis and a finite element modal analysis on the newly designed inspection robot to determine its inherent characteristics and the spatial pose coordinates of each joint.By analyzing the working mode of the inspection robot and planning the robot’s movement across the shock-proof hammer obstacle,the DH coordinate transformation method is used to construct the kinematics model of the inspection robot,obtain the transformation matrix of each joint of the robot,and perform tasks on the inspection robot The position change of the end mechanism in the space coordinate system is simulated and analyzed;the finite element modal analysis is performed on the inspection robot in two different working modes to obtain the natural frequency and mode shape of the robot in different poses.(2)Considering the non-linear flexibility characteristics of transmission lines,a transmission line-robot system is established,and the motion coupling of the system is studied.The inherent characteristics of the transmission lines and the effects of robot positions on the system are analyzed.The finite element method is used to establish the dynamic analysis model of the transmission line unit and single span,and the natural frequency numerical solution of the single span transmission line is obtained;the catenary method is used to find the shape of the transmission line,and the prestress modal analysis of the transmission line is combined The obtained natural frequency and each mode shape are compared with the above numerical solutions to verify the correctness of the model;the auxiliary coordinate system is established,the motion coupling relationship between the power line and the robot system is analyzed,and the force and moment of the robot on the power line are obtained.The mathematical expression of the robot is used as the moving load of the power line-robot system,and the impact of the robot walking at different positions on the power line is simulated and analyzed.(3)A transmission tower-line-robot system was established,and the modal analysis of the transmission tower and the system was performed.The coordinated motion of the system was used to study the coupled motion relationship of the system.The kinetic response was analyzed.First,a finite element model of the transmission tower-line-patrol robot system is established,and the modal analysis of the transmission tower and the transmission tower-line-robot system is performed to obtain its natural frequency and mode shape.The transmission tower is analyzed by the empirical formula.The self-oscillation period of the robot is compared to verify the correctness of the model established in this paper.Secondly,the auxiliary kinematic transformation method is used to analyze the coupling motion relationship of the transmission tower-line-robot system,in order to obtain the joints of the inspection robot in the system coordinate system.The spatial position relationship provides a theoretical basis;finally,the AR model is used to simulate the Davenport wind speed spectrum curve to obtain the pulsating wind speed time history curve.Using a multi-mass model,the average wind load and the pulsating wind load are sequentially applied to the transmission tower in the form of a nodal force.The time-history analysis of each node of the-line-robot system is performed to obtain the dynamic response of the transmission tower-line-robot system under average wind load and pulsating wind load.(4)Carry out related experiments such as walking,obstacle surmounting and wind resistance through the developed transmission line inspection robot By making physical prototypes to carry out related experiments such as online walking in the laboratory simulation environment,anti-vibration hammer span,and wind resistance test,the feasibility of the designed transmission line inspection robot structure is further verified,the theoretical results are correct,and the mechanism motion Rationality and stability. |
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