中文摘要：

在对高压巡线机器人多年的研究基础上,设计了一种架空高压线路走廊树枝修剪作业机器人构型。该机器人通过超长绝缘操作臂携带末端工具可以实现对高压线路走廊下方及两侧机器人作业半径内超长树枝的修剪。同时研究末端工具与树枝作业机理,提出了一种新的树枝修剪机器人作业方法,并完整设计了机器人的机械结构,对机器人进行了实体建模以及典型工况的运动仿真,验证了机器人作业过程中的运动学与动力学特性,为机器人的制造选型以及后期优化设计提供了重要参考。

英文摘要：

Base on the long term research of power line inspection robot, power line corridor tree-trimming robot is designed.By carrying end-of-arm tools, this robot could achieve the trimming of long branches within the bottom and two sides of the power line corridors under its working radium. A new mechanical configuration of power line tree-trimming robot is designed. Finally, in order to testify the features of kinematics during the working process of robots, the solid modeling and motion simulation of typical working conditions are implemented, which will provide important reference for the manufacturing of the robot.