Jixie chuandong (Sep 2023)
Structural Design of Catenary Equipment Inspection Robots
Abstract
Aiming at the problems of high labor intensity, high risk factor, long inspection time, low efficiency and wide range of manual inspection of railway catenary, a catenary inspection robot with a telescopic structure is proposed, which can replace manual inspection of the catenary. The overall structure of the robot and the selection of core components are determined. The screw theory and the modern matrix exponential product formula are used to establish the kinematics model; the Matlab Robotics toolbox is used to establish the simulation model and verify the kinematics equation; the Monte Carlo method is used to solve the robot workspace and draw the point cloud map. Finally, Ansys Workbench software is used for finite element analysis of key components, and the strength and stiffness are checked and verified. The designed robot in this study reduces the workload of workers; using lightweight materials and joint modular design makes the mass be reduced by 25%; its terminal multi-degree-of-freedom structure makes the shooting angle and range be increased by 2 times compared with the traditional way; the telescopic structure enables the robot to obtain a larger working space to meet the work requirements.
