Design, Modeling and Control of a Biped Line-Walking Robot

Abstract

The subject of this paper is the design and analysis of a biped line walking robot for inspection of power transmission lines. With a novel mechanism the centroid of the robot can be concentrated on the axis of hip joint to minimize the drive torque of the hip joint. The mechanical structure of the robot is discussed, as well as forward kinematics. Dynamic model is established in this paper to analyze the inverse kinematics for motion planning. The line-walking cycle of the line-walking robot is composed of a single-support phase and a double-support phase. Locomotion of the line-walking robot is discussed in details and the obstacle-navigation process is planed according to the structure of power transmission line. To fulfill the demands of line-walking, a control system and trajectories generation method are designed for the prototype of the line-walking robot. The feasibility of this concept is then confirmed by performing experiments with a simulated line environment.

Investigation of Aerodynamic Stability of a Lightweight Dual‐Arm Power Transmission Line Inspection Robot under the Influence of Wind

“…As the main aim of this analysis is to study the vibration of the robot trunk, a single point on the trunk can be chosen. us, the position vector p t of the robot trunk in a 3D plane with reference to the fixed coordinate system O is given in equation (16).…”

“…However, the stability of Expliner is not guaranteed due to its complex maneuvers during automation. Other types of climbing PTLIRs include the line-walking mechanism [15,16], three-arm prototype [17,18], four-arm POLIBOT [19], five-arm structure [20,21], and snake-like mechanism [22,23], among others. However, most of the existing climbing PTLIRs are either heavy or relatively large and can easily be affected by external wind.…”

Optimal crossing and control of mobile dual-arm robot through tension towers by using fuzzy and Newton barrier method

“…Accessibility is limited only to the guide wire. 'Bipedal line walking robot' [13] developed by Kunshan Institute of Industry Research and University of Hamburg in 2010 weighs less than Expliner and Line Scout. This robot is a 2PR robot which consists of three segments: a pair of legs, a waist and a body.…”

Review and Latest Trends in Mobile Robots Used on Power Transmission Lines

“…4, the principle of which is to fly close to the transmission line to perform the visual inspection [7,10]. These systems can use infrared and corona cameras to detect physical damage as well as some internal deterioration of the cable and devices.…”

“…In [2,10] a robot based on a new approach was presented which considers the catenary curve. The robot uses a linewalking mechanism (a biped structure supported by two feet which can keep their grip on wires).…”