Analysis and optimization of climbing capability for high-voltage transmission line inspection robots along the route
ObjectiveIn order to enable the inspection robot to pass through the large gradient line smoothly and to improve the climbing ability along the line of the dual-arm wheeled inspection robot, an analysis and optimization was carried out for a dual-armed wheeled inspection robot.MethodsFirst, the forc...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2025-01-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails?columnId=84275429&Fpath=home&index=0 |
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| _version_ | 1850044740208164864 |
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| author | YANG Zhiyong WANG Haoyang XIAO Xi TIAN Wang |
| author_facet | YANG Zhiyong WANG Haoyang XIAO Xi TIAN Wang |
| author_sort | YANG Zhiyong |
| collection | DOAJ |
| description | ObjectiveIn order to enable the inspection robot to pass through the large gradient line smoothly and to improve the climbing ability along the line of the dual-arm wheeled inspection robot, an analysis and optimization was carried out for a dual-armed wheeled inspection robot.MethodsFirst, the force characteristics of the robot during uniform slope climbing were analyzed using a static mechanics model, and a virtual prototype of the robot was established using Adams simulation software to determine its maximum slope-climbing angle. Then, both single-factor and response surface methods were used to analyze the influence of parameters such as the wrapping angle of the walking wheels, the clamping force of the front gripping wheels, and the clamping force of the rear gripping wheels on the robot's maximum slope-climbing angle. Finally, the maximum slope-climbing angle was derived using a linear regression equation, and the optimization results were validated through experiments with a robot prototype.ResultsThe results showed that after optimization, the robot's maximum slope-climbing angle reached 32°, an increase of 92% compared to before optimization. The experimental results indicate that modifying the walking wheel structure and increasing the clamping force can effectively improve the slope-climbing capability of the inspection robot along steep lines. |
| format | Article |
| id | doaj-art-49c51a398e034ee3891bf8fc5e75d0c7 |
| institution | DOAJ |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2025-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-49c51a398e034ee3891bf8fc5e75d0c72025-08-20T02:54:52ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392025-01-011884275429Analysis and optimization of climbing capability for high-voltage transmission line inspection robots along the routeYANG ZhiyongWANG HaoyangXIAO XiTIAN WangObjectiveIn order to enable the inspection robot to pass through the large gradient line smoothly and to improve the climbing ability along the line of the dual-arm wheeled inspection robot, an analysis and optimization was carried out for a dual-armed wheeled inspection robot.MethodsFirst, the force characteristics of the robot during uniform slope climbing were analyzed using a static mechanics model, and a virtual prototype of the robot was established using Adams simulation software to determine its maximum slope-climbing angle. Then, both single-factor and response surface methods were used to analyze the influence of parameters such as the wrapping angle of the walking wheels, the clamping force of the front gripping wheels, and the clamping force of the rear gripping wheels on the robot's maximum slope-climbing angle. Finally, the maximum slope-climbing angle was derived using a linear regression equation, and the optimization results were validated through experiments with a robot prototype.ResultsThe results showed that after optimization, the robot's maximum slope-climbing angle reached 32°, an increase of 92% compared to before optimization. The experimental results indicate that modifying the walking wheel structure and increasing the clamping force can effectively improve the slope-climbing capability of the inspection robot along steep lines.http://www.jxcd.net.cn/thesisDetails?columnId=84275429&Fpath=home&index=0Inspection robotsAdams simulationClimbing capabilitySingle-factor analysis methodResponse surface experimental method |
| spellingShingle | YANG Zhiyong WANG Haoyang XIAO Xi TIAN Wang Analysis and optimization of climbing capability for high-voltage transmission line inspection robots along the route Jixie chuandong Inspection robots Adams simulation Climbing capability Single-factor analysis method Response surface experimental method |
| title | Analysis and optimization of climbing capability for high-voltage transmission line inspection robots along the route |
| title_full | Analysis and optimization of climbing capability for high-voltage transmission line inspection robots along the route |
| title_fullStr | Analysis and optimization of climbing capability for high-voltage transmission line inspection robots along the route |
| title_full_unstemmed | Analysis and optimization of climbing capability for high-voltage transmission line inspection robots along the route |
| title_short | Analysis and optimization of climbing capability for high-voltage transmission line inspection robots along the route |
| title_sort | analysis and optimization of climbing capability for high voltage transmission line inspection robots along the route |
| topic | Inspection robots Adams simulation Climbing capability Single-factor analysis method Response surface experimental method |
| url | http://www.jxcd.net.cn/thesisDetails?columnId=84275429&Fpath=home&index=0 |
| work_keys_str_mv | AT yangzhiyong analysisandoptimizationofclimbingcapabilityforhighvoltagetransmissionlineinspectionrobotsalongtheroute AT wanghaoyang analysisandoptimizationofclimbingcapabilityforhighvoltagetransmissionlineinspectionrobotsalongtheroute AT xiaoxi analysisandoptimizationofclimbingcapabilityforhighvoltagetransmissionlineinspectionrobotsalongtheroute AT tianwang analysisandoptimizationofclimbingcapabilityforhighvoltagetransmissionlineinspectionrobotsalongtheroute |