A novel 110 kV power line inspection robot and its climbing ability analysis

Xiang, Yue; Wang, Hongguang; Jiang, Yong

doi:10.1177/1729881417710461

Cited by 27 publications

(22 citation statements)

References 13 publications

(14 reference statements)

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“…In addition, motion control needs to consider the influence of error as external information to participate in the closed-loop control of robot motion. 6 Complexity can be obtained through the stacking calculation of the homogeneous transformation matrix as shown in equation (2); the posture of the manipulator in the base coordinate system is given as equation 3; equations (2) and (3) can be used to establish an equation relationship to solve the kinematics forward and inverse solutions of the robot manipulator and end effector.…”

Section: Gis Inspection Robot Control System Design and Optimizationmentioning

confidence: 99%

“…ere are a large number of GIS (gas-insulated switchgear) types of equipment [1][2][3][4] built in the power system substation networks, GIS is a metal-enclosed equipment, and once there is an internal fault, the gas chamber needs to be opened for searching and processing, which not only is very inconvenient but also leads to poor safety and economy. In most cases, GIS equipment maintenance cannot directly dismantle the faulty spot.…”

Section: Introductionmentioning

confidence: 99%

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System Optimization and Robustness Stability Control for GIS Inspection Robot in Complex Microgrid Networks

Jiang

Zhi-ping

et al. 2021

Complexity

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GIS (gas-insulated switchgear) is important equipment in the substation system in a complex microgrid network. Due to the long-term service in harsh operation environments, the electrical performance of GIS equipment will be seriously affected. Therefore, the regular maintenance of GIS equipment in the substation system is a routine task so as to ensure the normal operation of the microgrid networks. The traditional method relies on manual labor, where not only with the low operation efficiency but also regarding some maintenance, labors cannot reach the inside of the GIS equipment, which seriously restricted the completion of GIS equipment maintenance operation. Based on the above analysis, a basic configuration of a GIS equipment maintenance robot with smart structure, convenient control, and stable motion characteristic has been proposed in this paper. Through the optimization design of the chassis adsorption system, the GIS inspection robot can achieve hanging and vertical adsorption inside the GIS equipment and some special motion status. In this way, the entire GIS equipment can be inspected without blind spots. Through establishing the mechanical model of the GIS inspection robot under the hanging and vertical motion state, the robustness and stability of the GIS inspection robot in the special status have been analyzed, and the corresponding GIS inspection robot robust stability motion control method has also been proposed. Finally, through the integrated design of mechanical system and hardware and software control system, the GIS inspection robot physical prototype system has been developed and the maintenance operation experiment has been carried out in Hunan Electric Power Company Maintenance Company through simulating the internal GIS equipment. The physical prototype can realize the basic movement and special movement in internal GIS equipment without any blind spots and complete the inspection task of GIS equipment operation; the movement of GIS robot is dexterous and stable in the whole operation process, which has strong robust stability. The research of GIS inspection robot in the complex microgrid networks has important theoretical significance and practical application value for the intelligent operation and maintenance management of substation system in complex microgrid networks.

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Section: Gis Inspection Robot Control System Design and Optimizationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

System Optimization and Robustness Stability Control for GIS Inspection Robot in Complex Microgrid Networks

Jiang

Zhi-ping

et al. 2021

Complexity

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“…Comparatively, hybrid type rope-climbing robots, which usually adopt the scheme that arranging wheels at the end of some joint arms (or legs), can obtain both a smooth and quick locomotion and good capability of obstacle-crossing. In recent decades, a wide variety of hybrid type rope-climbing robots has been proposed and used as important equipment for some inspection applications, especially the inspection for power transmission lines (Debenest and Guarnieri, 2010;Jiang et al, 2018;Lima et al, 2018;Morozovsky and Bewley, 2013;Tao and Fang, 2019;Wang et al, 2011;Yue et al, 2017).…”

Section: Introductionmentioning

confidence: 99%

FWMR-II: a modular link-type rope-climbing robot with the finger-wheeled mechanism

Gao

et al. 2021

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Purpose The rope-climbing robot that can cling to a rope for locomotion has been a popular piece of equipment for some overhead applications due to its high flexibility. In view of problems left by existing rope-climbing robots, this paper aims to propose a new-style rope-climbing robot named Finger-wheeled mechanism robot (FWMR)-II to improve their performance. Design/methodology/approach FWMR-II adopts a modular and link-type mechanical structure. With the finger-wheeled mechanism (FWM) module, the robot can achieve smooth and quick locomotion and good capability of obstacle-crossing on the rope and with the link module based on a spatial parallel mechanism, the robot adaptability for rope environments is improved further. The kinematic models that can present configurations of the FWM module and link module of the robot are established and for typical states of the obstacle-crossing process, the geometric definitions and constraints that can present the robot position relative to the rope are established. The simulation is performed with the optimization calculating method to obtain the robot adaptability for rope environments and the experiment is also conducted with the developed prototype to verify the robot performance. Findings From the simulation results, the adaptability for rope environments of FWMR-II are obtained and the advantage of FWMR-II compared with FWMR-I is also proved. The experiment results give a further verification for the robot design and analysis work. Practical implications The robot proposed in this study can be used for inspection of power transmission lines, inspection and delivery in mine and some other overhead applications. Originality/value An ingenious modular link-type robot is proposed to improve existing rope-climbing robots and the method established in this study is worthy of reference for obstacle-crossing analysis of other rope-climbing robots.

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“…Power transmission line live working robot [1][2][3][4] is a kind of intelligent equipment which walks on conductors, assists or replaces manual to complete transmission line repair and maintenance operations by mobile robots equipped with operation manipulators and it has broad application prospects. Power transmission line maintenance robots served in highaltitude and high-voltage harsh environments.…”

Section: Introductionmentioning

confidence: 99%

Dynamic model based energy consumption optimal motion planning for high-voltage transmission line mobile robot manipulator

Jiang

Zou³

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part K:

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Power transmission line live working robots are important equipment and useful exploration to ensure the reliable operation of high-voltage lines and they are the development trend to realizing intelligent automation power system operation and maintenance management. At present, most robots adapt lithium battery power supply and can be hoisted on line. The robot online endurance operation time is closely related to the system energy consumption. When the robot electricity of battery is insufficient, it needs to be charged offline. In order to reduce the frequency of robot hoisted on and off line as much as possible and improve the robot battery life time after it has been online, this has become a key technology which needs to be solved urgently. It is of great theoretical significance and practical application value to promote the robot overall operation efficiency. Based on the above, this paper establishes double different types manipulator energy consumption models for high-voltage transmission line damper replacement operation and drainage plate maintenance operation, through analysis and synthesis, a general energy consumption model for different tasks have been abstracted and an objective function for optimizing the robot manipulator motion energy consumption have been constructed based on the robot dynamics, thereby, GA(genetic algorithm) has been adapted, through selecting appropriate algorithm parameters, the optimal manipulator energy consumption has been solved and then it can be substituted back to the manipulator energy consumption model so as to obtain the optimal joint energy consumption motion function, based on the optimal energy consumption results, the optimal robot energy consumption motion planning has been carried out, according to the MATLAB simulation results, the energy consumption of the optimized trajectory is significantly lower than before, which can effectively reduce the frequency the robot hoisted online and offline, so as to improve the robot operation overall efficiency, at the same time, the optimal energy consumption trajectory planning method has strong versatility for different operation tasks. Finally, based on the optimal energy consumption trajectory planning, the robot drainage board tightening and damper replacement operation experiments on 220 kV power lines which verified the effectiveness and engineering practicability of the proposed method.

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A novel 110 kV power line inspection robot and its climbing ability analysis

Cited by 27 publications

References 13 publications

System Optimization and Robustness Stability Control for GIS Inspection Robot in Complex Microgrid Networks

System Optimization and Robustness Stability Control for GIS Inspection Robot in Complex Microgrid Networks

FWMR-II: a modular link-type rope-climbing robot with the finger-wheeled mechanism

Dynamic model based energy consumption optimal motion planning for high-voltage transmission line mobile robot manipulator

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