Development of a dual-arm mobile robot for high voltage power lines

Tingyu, Zhang; Zhang, Guoxian; Jin, Jian

doi:10.1109/robio.2007.4522461

Cited by 5 publications

(1 citation statement)

References 12 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Existem vários trabalhos que propõem robôs móveis para serem aplicados em tarefas de inspeção e manutenção em linhas de transmissão de energia (15) , muitos dotados com mecanismo de transposição de obstáculos (16,17,18,19,20) . Outro tipo de estudo focado no mecanismo de transposição é sobre a maneira de reconhecer os obstáculos encontrados por robôs suspensos em seus ambientes de trabalho (20,21,22) .…”

Section: Levantamento Bibliográficounclassified

Sistema ativo de auto-estabilização para veículos suspensos.

Vieira¹

View full text Add to dashboard Cite

During the last decades, many researches and studies have been done about suspended vehicles such as chair lifts, cable cars, carrying and assemblies of parts in the industry, etc. Suspended vehicles behave like a pendulum and they are susceptible to the action of external forces which cause oscillations and unwanted swing at the vehicle that may affect function and security of the vehicle. For several applications it is important to keep the physical stability of suspended vehicles (or part of them), such as in autonomous robots for inspection. In suspended systems it is very difficult to apply external forces to correct its position due the swing; so, it is proposed a new stabilizing system for suspended vehicles based on the conservation of energy and quantity of motion. Using only internal components of the suspended vehicle, the mass of the system was separated in two parts: an active mobile part that stabilizes a fixed part such as the structure of the vehicle. In this work, it is described an active system for swing control on suspended vehicles, able to soften the effects of external forces that can dangerously damage the performance of the vehicle. An autonomous off-board microcontroller with feedback program was assembled to stabilize the structure of the vehicle by using an inclination sensor attached to it. A DC motor is used to move the mobile part of the suspended vehicle to correct the equilibrium of the vehicle's structure. The microcontroller program based on proportional-derivative control system was implemented and tests were performed on a prototype vehicle. A good performance of the system was obtained with an efficient and fast stabilization of the prototype structure under the action of external forces, such as wind forces.

show abstract