[1]HE Lei,WANG Hongguang,LIU Aihua,et al.Mechanism design for a novel suspension insulator detection robot[J].CAAI Transactions on Intelligent Systems,2015,10(4):541-547.[doi:10.3969/j.issn.1673-4785.201404008]
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Mechanism design for a novel suspension insulator detection robot
CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume:
10
Number of periods:
2015 4
Page number:
541-547
Column:
学术论文—智能系统
Public date:
2015-08-25
- Title:
- Mechanism design for a novel suspension insulator detection robot
- Keywords:
- suspension insulator; detection robot; mechanism design; parallel mechanism; kinematics; simulation
- CLC:
- TP24
- DOI:
- 10.3969/j.issn.1673-4785.201404008
- Abstract:
- In order to improve the stability of motion, environmental suitability and load capacity, and to meet the demands of suspension insulator detection task, this paper presents a novel suspension insulator detection robot mechanism based on biomimetic principles. The configuration of the robot’s mechanism is introduced and the working principle and the moving and inspection procedures are analyzed. Equations of kinematics are derived and main dimensions of the robot are given. The kinematic simulation is carried out in the case that the axes of adjacent insulators are misaligned. Simulation results show that the mechanism can adapt to the small-angle bending of suspension insulator strings, and it has such advantages as excellent motion stability, environment adaptability and high load capacity. The robot can be applied to the suspension insulator detection task in power transmission lines.
- References:
-
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Last Update:
2015-08-28