Design and Kinematic Analysis of the End-Effector for Spacer Installation on Overhead Transmission Lines

For the problems that the installation of spacer dampers for overhead transmission lines currently mainly relies on manual operation, resulting in high labor intensity, low efficiency, great influence from environmental and human factors, and high safety risks, an end installation actuator for spacer dampers is designed, which can be compatible with multi-bundle transmission lines, has a light structure, and features flexible installation.The end-effector integrates a lead screw mechanism, clamping mechanism, rotating pin mechanism, and rotation mechanism, enabling precise positioning and multi-degree-of-freedom motion while meeting requirements for high-voltage insulation and resilience in harsh environments. Kinematic analysis is performed using the D-H modeling method, with dynamic modeling conducted via the Lagrangian approach and inverse kinematics solved to validate the accuracy of the D-H model in describing the end-effector’s kinematic characteristics and the suitability of inverse kinematics for meeting installation task positioning requirements. MATLAB simulations of pin positioning and cylinder feedback control are conducted, modeling the pin mechanism’s positioning process and cylinder action triggering. Results show that the PID controller enables rapid pin positioning, accurate feedback signal triggering, and swift, stable cylinder response, providing a theoretical basis for optimizing control strategies. The designed end-effector significantly enhances the automation level of spacer installation on overhead transmission lines, reduces labor intensity and safety risks associated with manual operations, and provides theoretical and technical support for efficient and precise installation in complex environments.