Simulation Modeling and Forward/Inverse Kinematic Analysis of Insulated Bucket Arm Vehicles

As the reliability requirements for power distribution networks continue to increase, uninterrupted operation of low-voltage distribution networks has become a critical task for power supply companies. Insulated bucket arm vehicle operations have become the primary method for live-line work in distribution networks. An analysis of the common structural components of insulated bucket arm vehicles’ arms was conducted, and a three-dimensional model of the mechanical arm was created using SolidWorks software. The DH parameter modification method was then employed to establish a parametric model. Subsequently, based on the 3D model of the bucket arm vehicle’s mechanical arm and the DH parameters, the mathematical model underwent forward and inverse kinematic analysis. Through forward kinematic analysis, research was conducted on the transformation matrices between coordinate systems. Through inverse kinematic analysis, a solution procedure for a special case of the insulated bucket arm vehicle’s inverse kinematics was obtained.