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Motion Simulation of Branch Trimming Robot for High-voltage Transmission Lines

ZHANG Li;CHOU Guo-tao;WANG Pei-pei;ZENG Xian-wu;TIAN Di;Guizhou Power Grid Co.,Ltd.Zunyi Power Supply bureau;  
Aiming at the problem that the distance between the corridor branches of the high-voltage transmission line and the lower phase conductor may lead to the short-circuit tripping of the line,a branch trimming robot walking along the wire is proposed. In order to verify the motion performance of the robot,the simulation model was built in MATLAB,and the Robotics Toolbox related function was called to simulate the kinematics of the robot. The workspace of the end trimming tool of the robot was obtained,and the correctness of the model was verified. In addition,the PTP trajectory planning simulation analysis of the robot is carried out. The analysis results show that the joint movements of the robot are stable without impact and the motion per-formance is good. Finally,using the motion simulation analysis to guide the test sample machine to carry out the branch trimming test on the field line.The test shows that the prototype has good motion performance and can meet the trimming operation of the transmission line branches.
【Fund】: 贵州电网科技研发计划(060300KK52170012)
【CateGory Index】: TP242;TM75
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