Design and stability performance optimization of a novel hybrid inspection robot walking device for smart grid applications

Inspecting in high-altitude windy environments requires maintaining a stable attitude to avoid significant oscillations, which is a crucial factor in advancing the use of hybrid power transmission line inspection robots (PTLIRs) in real-world scenarios for the electrical power and energy industry. We developed and optimized a novel walking device to improve the safety of hybrid PTLIRs operating in strong wind conditions. First, we investigate the operational conditions of transmission line inspection and design a walking device capable of transporting a flight device to be suspended under the line for inspection purposes. Second, a force equilibrium analysis is performed to explore the relationship between the key structural parameters of the walking device and the wind-induced deflection of the robot. A multiobjective optimization model is formulated to minimize the maximum deflection angle of the robot along three axes under wind loads. Finally, an optimization algorithm, using an improved non-dominated sorting particle swarm optimization (NSPSO) approach, is proposed to solve the model with good global search ability and fast convergence speed. A test platform is constructed to collect the wind deflection angle of a self-developed hybrid PTLIR under the transmission line. The test results demonstrate that the walking device can carry 30 kg to move along the transmission line. The average deflection angle of the robot around the Z axis is the highest under the influence of wind force level 7 (wind speed of 15.5 m/s) perpendicular to the windward surface of the robot. After optimization, the maximum deflection angle is limited to 10.38 degrees, aligning within safety thresholds. The optimization algorithm effectively reduces the maximum deflection angles around the X, Z, and Y axes by 33.19%, 39.21 %, and 13.23%, with minimal average errors of 2.40%, 3.87%, and 2.13%, respectively. The research in this paper can solve the bottleneck problem of robot practicality, which has important theoretical significance and practical application value for the safety, stability, and intelligent operation and maintenance management of power transmission lines.