Development of a novel power transmission line inspection robot

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

doi:10.1109/carpi.2010.5624450

Cited by 5 publications

(5 citation statements)

References 12 publications

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“…Because the line slope is constantly changing, the structures of the inspection robots proposed by some previous researchers have obvious deficiencies at the line adaptation [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15]. For example, when these robots walk along the line with gradually increasing slope, as shown in Figure 2, the forces of two walking-wheels are quite different because of the robot posture unchanging, which will make the walking-wheel's force little to skid easily and even fall from the line [21].…”

Section: Structure Characteristics Of the Robotmentioning

confidence: 99%

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Walking Characteristics of Dual-Arm Inspection Robot with Flexible-Cable

Yong-le

Zhang

Fang

2021

Journal of Robotics

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The overhead transmission line has a catenary shape, which has great influence on the dynamic characteristics of an inspection robot walking along the line and may even cause the walking-wheel to fall from the line. Compared with other similar inspection robots, the unique structure of the dual-arm inspection robot with flexible-cable is introduced. Taking the dual-arm inspection robot with flexible-cable walking along the uphill section of the line as an example, the force states of the robot when it works at acceleration, uniform speed, deceleration, and stopping were studied in detail. The corresponding force balance equations were established, and the walking-wheel torques in each working state were solved. The working states of the robot walking along the catenary shape line were simulated using ADAMS software. Simulation results show that the walking process of the robot is stable, the walking-wheels have good contact with the line, and the forces of two walking-wheels are almost balanced, which enables the robot to have good adaptability and climbing ability for the line. The prototype test that the robot walked along the line was carried out. The results of the simulation and prototype test are consistent with the theoretical analysis, so the rationality of robot structure design is verified. In the future, the navigation control and stability of the robot walking along the line will be researched, so that the robot can complete the patrol task in the real environment.

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Section: Structure Characteristics Of the Robotmentioning

confidence: 99%

“…Ed Boje et al illustrated a robot where two arms construct in series and the lower ends of two arms hinge on the same axis [6,7]. Ludan Wang et al also developed a robot with similar structures [8,9]. e common feature of two robots is that two arms of each robot form a triangle with the line and the length of each arm is unchangeable.…”

Section: Introductionmentioning

confidence: 99%

Walking Characteristics of Dual-Arm Inspection Robot with Flexible-Cable

Yong-le

Zhang

Fang

2021

Journal of Robotics

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“…Most of them achieve continuous and translational movement though wheels rolling on the cables, and a few of them realize discrete locomotion by climbing with multiple arms or legs. Whatever locomotion mode is adopted, overcoming obstacles on the cables is an indispensable function to the robots, which brings challenge in system development and control [7], [8]. Nevertheless, great progress and achievements have been made in the development of mobile platforms on PTLs so far.…”

Section: Introductionmentioning

confidence: 98%

Screwing manipulation on power transmission lines with a robotic system

Cao

Guo

et al. 2014

2014 IEEE International Conference on Mechatronics and Automation

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Maintenance tasks with a robotic system on power transmission lines are challenging and still open. Taking adjustment of vibration dampers on transmission lines as a typical task, we in this paper address how to effectively fulfill screwing manipulation with a 5-DoF manipulator on a vehicle capable of moving along the lines. To reduce the restriction on end-effector orientation and to decrease the demand for driving force, we design a special wrench with a spherical knob as an assistant tool.Since workspace is a priori information for robotic manipulation, it is generated based on kinematic model of the manipulator. Especially, circular path of the end-effector is planned to drive the wrench for the screwing manipulation, and optimal kinematic performance is analyzed by taking the condition number of the manipulator Jacobian as a criterion in terms of the manipulator position with respect to the vibration damper. The success of screwing manipulation and the effectiveness of the special wrench and path planning are verified by simulation and experiment.

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“…However, the overhang configuration creates another problem: gravity-caused friction. Because of this, the friction between the rail and mover roller is inconsistent and varies during operation [7][8][9]. Some custom guide rails can be designed separately according to user needs [10][11][12].…”

Section: Introductionmentioning

confidence: 99%

Design and Position Control of Overhang-Type Rail Mover Using Dual BLAC Motor

Cho

Lee

2021

Energies

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This paper presents the design and position control scheme of an overhang-type rail mover system driven by a dual Brushless AC (BLAC) motor with a simple Hall position sensor inside each motor. The overhang-type roller is chosen to reduce the slip between the roller and rail surface due to gravity. The BLAC motors are used to provide smooth translation along the rail and effective turning. Imbalances on any part of the motor and the simplicity of the Hall position sensor can create additional disturbance load, unsteady movement, and position errors. To reduce the sudden moving position error between the two motors, a balancing compensator with a Proportional-Differential (PD) position controller, which is based on the instantaneous speed and position trajectories, is presented. Furthermore, speed and position reference models are designed to compensate for the low Hall sensor resolution in the low-speed range. Therefore, steady-state position errors can then be regulated simply by using the instantaneous speed and position information. Experiments were performed to verify the viability of the proposed system and control. The results show a significant improvement in roller translation along the rail and stopping position accuracy.

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Development of a novel power transmission line inspection robot

Cited by 5 publications

References 12 publications

Walking Characteristics of Dual-Arm Inspection Robot with Flexible-Cable

Walking Characteristics of Dual-Arm Inspection Robot with Flexible-Cable

Screwing manipulation on power transmission lines with a robotic system

Design and Position Control of Overhang-Type Rail Mover Using Dual BLAC Motor

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