Mechanical System Design and Motion Space Analysis For Transmission Line Insulators Laser Deicing Robot

In the cold winter, it is a routine task to deicing on transmission lines in severe cold climate so as to ensure the safety and stable operation of transmission lines. Compared with the traditional contact deicing method for transmission line insulators, the using of laser for transmission line deicing has the advantages of sound deicing effect, no damage to the lines, clean and efficient energy utilization, et al. As the laser energy gradually decays with the increase of distance, this paper proposes a new method to realize laser deicing of short-range transmission line insulator by using UAV equipped with laser. In responds to the dispersion problem of traditional control, this paper fully integrates U AV control and laser control platform, the double have been integrated into one, in the new control platform, the U AV control and laser control can be realized simultaneously, the kinematics model of the laser has been established and its forward and inverse solutions have been solved and analyzed. Finally, simulation experiments verify the validity of the model. Compared with the traditional mode, this deicing mode not only realizes the control integration, but also it is easy to operate. It is especially suitable for the operation in the transmission line field environment, which greatly enhances the robot operation efficiency. At the same time, the simulation of laser head sweeping space and deicing operation motion planning based on the kinematic model show that the system designed in this paper can realize the suspension insulators deicing without blind area. The implementation and promotion of this study has important theoretical significance and practical application value for the practicability of intelligent operation and transmission lines maintenance management. (paper)