This paper presents a new robot prototype for the construction of Hydro-Québec's overhead distribution lines. It details the main sub-systems of the robot, such as the climbing system (for climbing poles), the crossarm manipulation system (which handles crossarms and selects tools for drilling holes and inserting bolts), and the bolting system (for fixing crossarms and braces on poles). The robot is made to ascend and descend a pole by teleoperation, and the installation of a pre-assembled crossarm (with brace, pins, insulators and clamps) at the top of a 40-foot pole is performed in full automatic mode. Tests have demonstrated the efficiency of this robotized construction method in installing the line hardware of a three-phase distribution line on a 40-foot pole in 25 minutes.
This paper presents the concept of a new robotic joint composed of two electric motors as inputs, an epicyclic gearing system for the transmission, and a single output. The proposed joint mechanism has a wider range of speed and torque performances comparatively to a traditional robot joint using a single motor and gearbox. The dynamic equations for the mechanical transmission system are given and a dual-motor joint mechanism is designed and prototyped to test this new concept of robotic joint. Also, the potential advantages of this joint concept for the design of manipulators for which a wide range of performances are desired are discussed. This work is motivated by the development of field robots designed for the operation and maintenance tasks in power distribution lines.
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