Dynamic Coupling Simulation of a Power Transmission Line Inspection Robot with its Flexible Moving Path when Overcoming Obstacles

The influence of the flexibility moving path-overhead transmission line -on the inspection robot´s dynamic response performance is studied through coupling dynamic simulation. First, a rigid multi-body dynamic model of the robot and a flexible multi-body dynamic model of a span of transmission line were built with Lagrange equation and modal synthesis method, respectively. Then the two models were coupled in the grasping point under two typical postures of passing obstacles. The dynamic response simulation of each posture was carried out with three different spans of flexible overhead transmission line. The laws governing impacts of flexible job environment upon the robot´s dynamic response performance are explored through simulation results comparison and analysis.