关键词：光机电；机器人；火焰喷射器；运动学；电源线
摘 要：The purpose of this study is to design a flamethrower robot that works on power transmission lines.Composed of wheels and arms,the robot is able to move on the power transmission lines and also can get rid of the foreign matter like kites hanging on the line.Geometric design of the mechanism is discussed in detail and the critical problem of slide occurred between the line and the wheel is solved in this study.Also,the kinematics and the work space of the arm fixed on the robot are researched to ensure that the foreign matter hanging on the line can be cleared wherever it is.The effectiveness of the proposed concept is proved by experiments performed in a simulated line environment.