An Inspection Robot for Live-Line Suspension Insulator Strings in 345-kV Power Lines

Park, Joon‐Young; Lee, Jaekyung; Cho, Byung-Hak; Oh, Ki‐Yong

doi:10.1109/tpwrd.2011.2182620

Cited by 55 publications

(27 citation statements)

References 4 publications

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“…Che et al and Aracil et al [1,2] give the structure of the multisplit transmission lines and through the data from grid companies indicate that the multisplit transmission lines are the main channel to undertake the power transmission; the most typical representative of this kind line is the double-split conductor. Singh et al and Park et al [3,4] give the structure and characteristic of the single-split transmission lines. Compared with the singlesplit transmission line, the multisplit power transmission line has stronger power transmission capability.…”

Section: Introductionmentioning

confidence: 99%

Operation Motion Planning and Principle Prototype Design of Four-Wheel-Driven Mobile Robot for High-Voltage Double-Split Transmission Lines

Jiang

et al. 2020

Mathematical Problems in Engineering

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In response to the problems of high labor intensity, high risk, and poor reliability of artificial live working, a four-wheel-driven spacer bar replacement mobile operation robot has been designed and developed in this paper, and the corresponding kinematic and dynamics model have been established, based on the established double models, the kinematics and dynamics numerical analysis can be realized through INVENTOR and ADAMS, respectively, based on the established kinematics and dynamics models . The results show that the simulation value of the robot joint displacement, velocity, acceleration, and joint force can be able to meet the requirements of kinematic and dynamic constraints during the robot operation. The robot prototype can meet the requirement of dual-split robot working space and the operation joint force control, which not only extend the robot adaptability to the multisplit lines heterogeneous operation environment but also provide an important theoretical technical support for the exploit of the robot physical prototype. Through the robot kinematics and dynamics analysis, the robot mechanical structure parameters and electrical control parameters have been effectively optimized. The weight and cost of the robot have been reduced by 12% and 15% compared to the existed studies. Finally, the robot principle prototype mobile platform has been developed, and the correctness of robot kinematics and dynamics simulation analysis has been verified through the robot principle prototype mobile platform.

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Section: Introductionmentioning

confidence: 99%

Operation Motion Planning and Principle Prototype Design of Four-Wheel-Driven Mobile Robot for High-Voltage Double-Split Transmission Lines

Jiang

et al. 2020

Mathematical Problems in Engineering

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“…Images of transmission lines can also be acquired by using cameras or video cassette recorders (VCRs) carried on an UAV. After obtaining these aerial photographs, many methods have been proposed to detect and locate the insulators in the images with the difficulty of complex background and low image resolution [14][15][16][17][18][19][20]. In [14], an improved segmentation Fuzzy C-Means algorithm (FCM) is proposed to accurately segment insulators from the image.…”

Section: Introductionmentioning

confidence: 99%

An Online Measurement Method for Insulator Creepage Distance on Transmission Lines

et al. 2018

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Abstract:Insulators play a crucial role in ensuring the normal operation of the power system, and the creepage distance is an important electrical parameter of insulators. Most available solutions focus mainly on offline measurement methods, and online measurement for insulator creepage distance on transmission lines remains a challenging task. To address this issue and to further improve the corresponding work efficiency, an online measurement method for insulator creepage distance is presented in this paper. Considering the glass material of the insulator and the long measuring distance, this method recognizes the insulator type indirectly by calculating the structural parameters of the insulators based on their geometric features, and then obtaining the creepage distance. Accordingly, a measurement system, which mainly includes an electronic total station and a camera with a telephoto lens, is designed in this paper. Moreover, this paper also proposes an error analysis model aimed at reducing the errors caused by the layout of this system. In the conducted experiments, this proposed method effectively obtains the creepage distance and the error correction model can further improve the measurement accuracy of structural parameters.

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“…The moving mechanism of this robot achieves crawling operation by rotation of claws. When the claws contact with the insulator surface, the direction of contact force always change, this is likely to cause the jam [5,6].…”

Section: Introductionmentioning

confidence: 99%

Structural Design and Kinematic Analysis of Moving Mechanism of Insulator Inspection Robot

Yang

Geng

et al. 2015

Recent Advances in Mechanism Design for Robotics

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The insulator is a part of high-voltage power transmission lines. The security and reliability of power system is mainly determined by safe working of insulator. Moving mechanism of insulator inspection robot is developed to inspect potential risk and operating status of insulator, which has important application in power engineering. Considering the working condition of insulator and mobile program of existing inspection robot, a novel foot-simulated moving mechanism of insulator inspection robot is proposed. Mobile program and structural configuration are determined, structural parameters are designed and kinematics analysis are completed. Finally, a 3D virtual prototyping of the moving mechanism is built with Solidworks, the moving process on insulator string of the mechanism is simulated with Adams, kinematic performances are calculated by simulating. The simulation results verify structural rationality of the moving mechanism and correctness of kinematic analysis proposed in this paper.

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An Inspection Robot for Live-Line Suspension Insulator Strings in 345-kV Power Lines

Cited by 55 publications

References 4 publications

Operation Motion Planning and Principle Prototype Design of Four-Wheel-Driven Mobile Robot for High-Voltage Double-Split Transmission Lines

Operation Motion Planning and Principle Prototype Design of Four-Wheel-Driven Mobile Robot for High-Voltage Double-Split Transmission Lines

An Online Measurement Method for Insulator Creepage Distance on Transmission Lines

Structural Design and Kinematic Analysis of Moving Mechanism of Insulator Inspection Robot

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