In view of the current problem of blind spots in the installation quality acceptance of horizontal glass insulators in over-head transmission lines,a design scheme for a robot mechanism for insulator installation quality acceptance based on industrial endo-scopes was proposed,taking the horizontal glass insulator strings of 500 kV overhead transmission lines as the acceptance object.The for-ward kinematics and inverse kinematics analyses of the five-axis manipulator in the detection mechanism were carried out using the D-H parameter method and the algebraic method respectively,the working space of the five-axis manipulator was calculated using the Monte Carlo method.Using the sub-polynomial interpolation method,the trajectory planning of the five-axis manipulator was carried out in MATLAB software,and the angle,angular velocity & angular acceleration of each joint were simulated and analyzed.The results show that the pose of the five-axis manipulator simulation model established by the post-standard D-H parameter method is consistent with the 3D model pose.The five-axis manipulator working space conforms to the actual situation,and the speed and acceleration of each joint are smooth,no mutation,meeting the design requirements.
维普
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