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Structural Design and Kinematic Analysis of Moving Mechanism of Insulator Inspection Robot

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Recent Advances in Mechanism Design for Robotics

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 33))

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Abstract

The insulator is a part of high-voltage power transmission lines. The security and reliability of power system is mainly determined by safe working of insulator. Moving mechanism of insulator inspection robot is developed to inspect potential risk and operating status of insulator, which has important application in power engineering. Considering the working condition of insulator and mobile program of existing inspection robot, a novel foot-simulated moving mechanism of insulator inspection robot is proposed. Mobile program and structural configuration are determined, structural parameters are designed and kinematics analysis are completed. Finally, a 3D virtual prototyping of the moving mechanism is built with Solidworks, the moving process on insulator string of the mechanism is simulated with Adams, kinematic performances are calculated by simulating. The simulation results verify structural rationality of the moving mechanism and correctness of kinematic analysis proposed in this paper.

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References

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Acknowledgments

The authors would like to acknowledge the financial support of the National Natural Science Foundation of China (Grant NO. 51175069, 51205052), the State Key Laboratory of Robotics of China (2012-O16), and the Basic Science and Research Project of Chinese National University under grant No. N140304004

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Authors and Affiliations

  1. College of Mechanical Engineering & Automation, Northeastern University, Shenyang, China

    S. J. Li, Q. Yang, M. Geng & X. P. Li

  2. State Key Laboratory of Robotics, Shenyang, China

    H. G. Wang

Authors
  1. S. J. Li
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  2. Q. Yang
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  3. M. Geng
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  4. H. G. Wang
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  5. X. P. Li
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Corresponding author

Correspondence to Q. Yang .

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Editors and Affiliations

  1. Aalborg University, Aalborg, Denmark

    Shaoping Bai

  2. Laboratory of Robotics & Mechatronics LARM, University of Cassino and South Latium, Cassino, Italy

    Marco Ceccarelli

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© 2015 Springer International Publishing Switzerland

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Li, S.J., Yang, Q., Geng, M., Wang, H.G., Li, X.P. (2015). Structural Design and Kinematic Analysis of Moving Mechanism of Insulator Inspection Robot. In: Bai, S., Ceccarelli, M. (eds) Recent Advances in Mechanism Design for Robotics. Mechanisms and Machine Science, vol 33. Springer, Cham. https://doi.org/10.1007/978-3-319-18126-4_23

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  • DOI: https://doi.org/10.1007/978-3-319-18126-4_23

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-18125-7

  • Online ISBN: 978-3-319-18126-4

  • eBook Packages: EngineeringEngineering (R0)

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