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

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.