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Dynamic simulation and experimental study of inspection robot for high-voltage transmission-line

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Abstract

A mobile robot developed by Wuhan University for full-path hotline inspection on 220 kV transmission lines was presented. With 4 rotating joints and 2 translational ones, such robot is capable of traveling along non-obstacle straight-line segment and surmounting straight-line segment obstacles as well as transferring between two spans automatically. Lagrange’s equations were utilized to derive dynamic equations of all the links, including items of inertia, coupling inertia, Coriolis acceleration, centripetal acceleration and gravity. And a dynamic response experiment on elemental motions of robot prototype’s travelling along non-obstacle straight-line segment and surmounting obstacles was performed on 220 kV 1:1 simulative overhanging transmission-line in laboratory. In addition, dynamic numerical simulation was conducted in the corresponding condition. Comparison and analysis on results of experiment and numerical simulation have validated theoretical model and simulation resolution. Therefore, the dynamic model formed hereunder can be used for the study of robot control.

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Authors and Affiliations

  1. College of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, China

    Xiao Xiao-hui (Doctoral candidate) & Shi Tie-lin

  2. College of Power and Mechanical Engineering, Wuhan University, 430072, Wuhan, China

    Xiao Xiao-hui (Doctoral candidate), Wu Gong-ping & Du E

Authors
  1. Xiao Xiao-hui
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  2. Wu Gong-ping
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  3. Du E
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  4. Shi Tie-lin
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Corresponding author

Correspondence to Xiao Xiao-hui.

Additional information

Foundation item: Project (50575165) supported by the National Natural Science Foundation of China; project (2002AA420110, 2005AA2006-1) supported by the National High Technology Research and Development Program of China; project (20045006071-28) supported by the Youth Chenguang Project of Science and Technology of Wuhan City of China

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Xiao, Xh., Wu, Gp., Du, E. et al. Dynamic simulation and experimental study of inspection robot for high-voltage transmission-line. J Cent. South Univ. Technol. 12, 726–731 (2005). https://doi.org/10.1007/s11771-005-0077-y

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  • DOI: https://doi.org/10.1007/s11771-005-0077-y

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