In this paper, the methods of a snake-like robot climbing on high voltage transmission lines are presented. The three typical locomotion modes of a snake-like robot, that is, rectilinear locomotion with a Zshaped clamping mechanism, obstacle navigation locomotion with a head part clamping mechanism and winding obstacle navigation locomotion, are discussed. The motion mechanism of the snake-like robot's head part clamping obstacle navigation is studied and the kinematics model coupled with the robot and the line environment under this mode is introduced. The position tracking algorithm and the improved algorithm of robot's clamping obstacle navigation are also proposed. Finally, the simulation experiment verifies that the improved position tracking algorithm can improve the robot's motion performance and is feasible in the robot's clamping obstacle navigation.
Gait planning is an effective approach aiming at the difficulty in locomotion control of a multi-degree-of-freedom snakelike robot. In this article, a gait-generating method is presented with regard to the issue of its locomotion control in the process of winding-crossing variable-diameter cylindrical obstacles involving a P-R-joint scale-driven snake-like robot. The proposed method solves the problem of trajectory discontinuity of variable-diameter helix lines through linear fitting in the process of the obstacle crossing of the robot. The collision/interference between the robot and the obstacle is avoided by adding an extended helix segment to the front and rear ends of the obstacle. For direct linear fitting of the locomotion trajectory curve that will lead to velocity discontinuity, B-spline curves are used for smooth transition on generating the trajectory curve. A simulation experiment analysis is performed to demonstrate that the proposed gaitgenerating method can enable the snake-like robot to cross variable-diameter cylindrical obstacles.
Abstract. Based on the further study of high-voltage transmission line deicing environment, this paper proposed a wheel milling deicing device and a compound deicing robot that can have double wheel milling and compressing wheel rolling simultaneously; implemented deicing experiment and obstacle negotiation simulation analysis on the transmission and robot mechanic system; proposed an obstacle negotiation navigation control method based on electromagnetic sensors, and finally implemented deicing experiment and obstacle negotiation experiment on deicing robot prototypes. The experiment demonstrates the feasibility of electromagnetic navigation technology in leading robot in obstacle negotiation, and also shows that it's possible to use compound deicing method of milling and compressing wheel rolling.
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