Research on the motion characteristics of underwater cleaning robot in cooling pool of substation under typical working conditions

Substation cooling pool underwater cleaning robot is a kind of intelligent equipment that can assist or even replace manual underwater cleaning operations, which plays an important role in the automation, intelligence and digital transformation of power system operation and maintenance management, due to its special underwater operating environment, the analysis of the motion characteristics of the cleaning robot is very important for the robot to efficiently complete the operation task, therefore, this paper establishes the underwater motion coordinate model of the substation underwater robot, and defines the robot motion parameters. The attitude of the robot under different working conditions was planned, and finally the typical working conditions were selected in ADAMS, and the joint response of the robot was obtained by applying the appropriate robot joint torque, and the results showed that the robot could better adapt to the underwater working environment and complete the corresponding cleaning tasks.