Graphical Simulations of a Mobile Robot Suspended on Transmission Lines Using Multibody Systems Software

Abstract

This work presents a mobile robot that moves suspended on transmission lines and/or telecommunication transmission lines, which can transpose signalizing spheres and sustaining insulators, placed at any position on wire. The use of multi body systems software helped in the development of the prototype allowing to visualize the three-dimensional behavior of the robot when the surmounting signalizing spheres and insulators. In this work the mobile robot kinematic model, the methodology for obstacle transposition, graphical simulations and experimental results are presented to validate the proposed methodology.