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
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.