Analysis and Simulation of Dynamic Characteristics for Multi-Split Transmission Line Splicing Pipe Flaw Detection Robot

The splicing pipe is an important hardware on multi-split transmission lines. quality of its crimping and internal structure directly affects the normal stable operation line. online flaw detection robot for means to realize automatic pipe. This paper basis proposing a mechanism configuration suitable line detection, aiming at matching relationship between imaging plate movement joint driving torque during process, method established by using Lagrangian method. dynamic model process board installed, motion each pose change in area under jurisdiction four-split wire analyzed. displacement velocity curves can be obtained. From simulation results, it known that continuous stable, driven continuously smoothly, which realizes coordinated control probe plate. Coupling operation, research this has theoretical significance practical application value design system, especially drive design.