Mechanism Design and Strength Analysis of Key Components of Flight-climbing-slide Robot for High-voltage Transmission Line Inspection

There are huge and complex power grids in China, but the high-voltage transmission lines inspection relies mainly on manual inspection. The non-manual high-voltage transmission line inspection methods mainly include flight inspection and robot online inspection. However, these two kinds of high-voltage inspection methods have some limitations and shortcomings leading that they can't be widely used in harsh environments, such as the wind and cold in Xin Jiang province. This paper presents a new inspection method that combines the advantages of flight inspection and robot online inspection, aiming at making the inspection robot have the functions of flight, glide and crawl to can carry out flight inspection and robot online inspection. The feasibility of the inspection method and the rationality of the mechanism were proved through the design of the flight-climbing-slide robot, the kinematics and dynamics analysis of the bionic mechanism, the simulation analysis and the strength analysis and modal analysis of the key parts of the mechanism.