Wind-resistance performance optimization design of a line inspection robot based on elastic pressing and improved wheel grooves
HE Yuling
PANG Ziwang
DAI Derui
LIU Zhenhua
CHEN Yufeng
ZHENG Hai
JI Yanpeng
Abstract：To address the insufficient stability of high-altitude line inspection robots under wind loads,this study proposes optimization strategies involving a novel elastic pressing mechanism and an improved wheel groove,which can effectively enhance their walking stability.A power transmission and distribution line inspection robot with dual-mode switching(flight and walking)capabilities was developed.Firstly,a dynamic model of the robot under wind loads was established,and the relationship between the swing decay time and clamping force,contact area,and friction coefficient was derived.Secondly,dynamic simulations were conducted to verify the performance advantages of the two optimization strategies in suppressing swings.Finally,outdoor wind swing tests were performed to validate the effect of structural improvements.The results show that the elastic pressing mechanism can effectively increase the contact area between the pressing wheel and the line,and the improved wheel groove can enhance the friction coefficient of the walking wheel;both significantly shorten the robot's swing decay time and improve its inspection stability in wind load disturbance environments.The effective technical support and engineering practice basis for the stable operation of high-altitude line inspection robots in complex environments were provided.
Keywords：Line inspection robotWind loadElastic pressing mechanismImproved wheel grooveOscillation decay time
Publication Date：2025-09-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：8( 205-212 )