Analysis and control of a biped line-walking robot for inspection of power transmission lines

Wang, Ludan; Liu, Fei; Wang, Zhen; Xu, Shaoqiang; Zhang, Jianwei; Cheng, Sheng

doi:10.1109/icra.2011.5979858

Cited by 4 publications

(1 citation statement)

References 9 publications

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“…Montambault and Pouliot (2015) designed the climbing inspection robot characterized as a clamping mechanism to cross obstacles (Pouliot and Montambault, 2012;Montambault and Pouliot, 2015). Wuhan University proposed a twoarmed mobile robot to achieve autonomous motions (e.g., walking and crossing obstacles) on power lines (Wang et al, 2011b). Moreover, other types of climbing PLIRs include three-armed PLIRs (Yang et al, 2014;Tao and Fang, 2019), four-armed prototypes (Lima et al, 2018), five-armed structures (Tao et al, 2016;Shruthi et al, 2019), and snake-shaped mechanisms (Wei et al, 2013;Liu et al, 2019).…”

Section: Introductionmentioning

confidence: 99%

A novel flying–walking power line inspection robot and stability analysis hanging on the line under wind loads

et al. 2022

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Abstract. To address the problems of existing power line inspection robots (PLIRs), such as complex structural design, difficult landing on and off lines, short cruise times, and easy hitting lines, we propose a novel flying–walking power line inspection robot (FPLIR) with the ability to fly and walk. The structural design of an FPLIR is carried out, which mainly includes a flying mechanism and a walking mechanism. Compared with climbing PLIRs and unmanned aerial vehicles (UAVs), the FPLIR can quickly land on and off lines, easily cross obstacles, and have longer cruise times and steady inspection perspectives. In addition, a directing-push pressing component is designed to improve the walking stability along the line. We also investigate the walking stability of the FPLIR on the line when encountering working conditions with crossing wind. The dynamics model of the FPLIR on the power line using the Lagrangian equation is derived to analyze walking stability caused by wind loads, considering pressing force and walking speed. An optimized regression design with three factors (wind angle, walking speed, and pressing force) and five levels was adopted to reveal the effect of these factors on the walking stability of the FPLIR. The experimental results show that wind angle and pressing force significantly influence the walking stability of the FPLIR (P<0.05). The maximum swing displacement of the center of mass (COM) is 4.7 cm (when wind angle, walking speed, and pressing force are 90∘, 7.2 m min−1, and 0, respectively). The maximum swing displacement of the COM is 2.5 cm when the pressing force increasing to 39.4 N is reduced by 46.2 % (when wind angle and walking speed are 90∘ and 5.1 m min−1, respectively), which effectively reduces the influence of wind loads and improves the stability of the FPLIR. The proposed FPLIR significantly improves inspection stability, providing a theoretical basis for slipping control, collecting images of intelligence inspection robots in the future.

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