Xian Jin Xu, Hai Feng Yan, Lanlan Liu, Yu Yan, Yan Hao Huang, and Yu Hang Yang
High voltage DC transmission lines; soft robots; magnetic actuation; dynamics; magnetic field simulation
Currently, the existing high-voltage transmission line inspection robots used in both domestic and foreign research mostly adopt a multi-link rigid structure. However, such designs suffer low obstacle- surmounting efficiency and inadequate safety, making them difficult to be practical. In this paper, a high-voltage magnetostrictive soft inspection robot is designed, utilising the ampere force exerted on the current-carrying coil in a high-voltage direct current annular magnetic field to drive the soft robot to efficiently and flexibly traverse various obstacles in a creeping and compliant manner. The paper conducts theoretical analysis and magnetic field simulation to characterise the annular magnetic fields around different types of obstacles. The design and theoretical calculation of the magnetostrictive model for linear traction force, magnetic adhesion force (tensile force), and adjustment of posture torque are carried out to ensure the driving force theory feasibility. Additionally, force analysis is conducted to examine the motion postures required for crossing different types of obstacles. Simulation and dynamic analysis of the magnetostrictive model prove the theoretical feasibility of the proposed high-voltage magnetostrictive soft inspection robot scheme, laying a foundation for future technological implementation of high-voltage magnetostrictive soft inspection robots.
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