中文摘要：

为了适应在充电座与充电头的对接过程中,由于安装误差、输电线路受机器人重力会产生向下形变带来的对中偏差,克服传统插针与插孔对准难的缺点,根据巡线机器人在高空线路上运行的特点,首先设计出了一种新型的、对接简单可靠的充电对接装置（包括楔形充电头和4自由度缓冲充电座）;然后分析了对接过程,并通过坐标变换法得到了对接装置与高空线路之间的几何约束关系;最后根据对接时的接触特点,分析了受力特性,得到了线路及对接装置相关的几何参数、特性参数（摩擦系数）之间的约束关系,为充电对接装置和线路之间的参数匹配提供了理论依据.

英文摘要：

To adapt the installation error and the alignment deviation which caused by the deformation downward（suffering from the robot’s gravity） of transmission line during the docking of charging block and charging head,we have overcome the defect that the traditional contact pin is difficult to be aligned to the tip jack; and according to the characteristics of the robot runs in the high line,designed a new docking device for charging（including wedge charging head and 4 degrees of freedom buffer）.The docking is simple and reliable.Through the analysis of the docking process,the geometric constraints between docking device and the upper line was obtained by the method of coordinate transformation.Finally,according to the contact characteristics of docking,analyzed the force characteristics,the constraint relationship between the geometric parameters and characteristic parameters（friction coefficient） related to the lines and docking device was obtained,so as to provide the theoretical basis for the parameters matching between the charging device and transmission lines.