Kinematics analysis and simulation of the Substation Equipment Water Washing Robot with Hot-line

The size of the substation is constantly expanding with the development of electric power industry. The substation equipments which are long-term exposure to the outdoor affected by natural and industrial contamination are easily caused the flashover phenomenon. The substation equipment water washing robot with hot-line is used to water cleaning operations carried out on the post insulators in substation. Kinematics performance of the robot should not be ignored in order to make it moving freely in the substation and move to the job position safely and stably. Kinematics analysis and simulation of the substation equipment water washing robot with hot-line are conducted in the process of flat walking and climbing by using virtual prototype technology based on the method of multi-body kinematics and Lagrange multiplier. The changing curve of robot's gravity center under different road conditions and the motion state of the robot in the process of climbing are all obtained. Improvements and optimization have been done according to the calculation results.