输电拉线除锈机器人的设计与实现

为解决输电拉线的自动除锈防护难题，提出了一种新型拉线除锈机器人的总体方案，完成了行走、压紧、调节、除锈等主要机构的设计及控制系统的设计，构建了拉线除锈机器人的总体系统。基于SolidWorks创建了机器人三维实体模型，并应用ADAMS软件建立了机器人的虚拟样机，对其运动学和动力学特性进行了仿真分析，进而制作了实物样机，完成了现场试验，仿真和试验结果均证明了设计方案的可行性和有效性，实现了拉线表面的自动除锈和防护。

Design and Realization of Rust Removal Robot for Power Drawing Cable

In order to solve the problem of automatic rust removal and protection of power drawing cables, a new type of rust removal robot is proposed. The design of main mechanisms such as walking, pressing, adjustment, rust removal and control system are completed, then the overall system of the rust removal robot is constructed. The 3D solid model of the robot is created based on SolidWorks, and a virtual prototype of the robot is established using ADAMS software, and its kinematics and dynamics characteristics are simulated and analyzed. Finally, the physical prototype of the rust removal robot has been manufactured, and experiment in reality working condition has been carried out. Simulation and experiments results verify the feasibility of the theory and design of rust removal robot for power drawing cable.