Research on the Deicing Robot and Motion Characteristic of the Four Divisions High-Voltage Line

This paper is aimed at the problem of less dehumidification robot for four-split high-voltage line and with some obstacle-removing ability and high efficiency de-icing, developed a four-split high-voltage de-icing robot with barrier capability, Based on the combination of theoretical calculation and virtual prototype simulation, this paper focuses on the key technology of robot, the overall structure design and virtual prototype modeling, and the rigid-flexible coupling of the robot under flexible high voltage line. The Lagrangian method is used to establish the rigid and flexible coupling dynamics model of the robot. The ADAMS dynamic simulation software is used to simulate the obstacle process of the robot to test the rigid and flexible coupling stability of the robot. Through the simulation results, it can be seen that the vibration of the robot in the process of obstacle crossing, by the high-voltage flexible, with the high-voltage lines along the vibration, the vibration in the direction of the space to meet the stability requirements.