Research on Pole-climbing Robots that Can Perform Multi-degree-offreedom Motion and Working at the Top of Distribution Network Poles

Background: In order to complete power maintenance, equipment renewal and other loss reduction work and reduce customer outage time at the same time, live electrical work has become a necessary means. Pole-climbing robots, as an important auxiliary tool for power-carrying operations, frequently appear in papers and patents. Objective: The pole climbing robot is designed to work at any position in the working space with electric distribution pole, effectively and safely replacing manual work. Methods: Based on the physical parameters of the cement utility pole and the range of space for live electrical work, the functional relationships are established between the structural parameters of the robot and the kinematic and dynamical models, and the optimal range of parameters is solved. Results: The robot can rotate and climb around the pole with five steering angles: 0°, 22.5°, 45°, 67.5° and 90°. The control insulated operating rod can transport special tools to any station within 1m radius of the distribution pole for live work. It has a maximum load of 11kg and a maximum climbing speed of 33.6mm/s. Conclusion: The pole-climbing robot can climb cement utility pole, manipulate the insulated operating lever it carries, and transport special tools to the workstation on the cable for carrying out live electrical work.