Field tests of a robot system prototype for the underground distribution lines

Allan, J.-F.; Reiher, S.; Lambert, Ghislain; Lavoie, Samuel

doi:10.1109/tdc.2010.5484592

Cited by 5 publications

(3 citation statements)

References 3 publications

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“…A robotic system was designed to inspect and repair the switch in the underground power transmission line, as shown in Figure 12a. The designed models consisted of a vehicle with a five DoFs hydraulic arm holding a six DoFs manipulator, a tool rack and a pneumatic tool changer [81,82].…”

Section: Maintenance In High-voltage Transmission Line and Substationmentioning

confidence: 99%

A Review on the Prospects of Mobile Manipulators for Smart Maintenance of Railway Track

et al. 2023

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Inspection and repair interventions play vital roles in the asset management of railways. Autonomous mobile manipulators possess considerable potential to replace humans in many hazardous railway track maintenance tasks with high efficiency. This paper investigates the prospects of the use of mobile manipulators in track maintenance tasks. The current state of railway track inspection and repair technologies is initially reviewed, revealing that very few mobile manipulators are in the railways. Of note, the technologies are analytically scrutinized to ascertain advantages, unique capabilities, and potential use in the deployment of mobile manipulators for inspection and repair tasks across various industries. Most mobile manipulators in maintenance use ground robots, while other applications use aerial, underwater, or space robots. Power transmission lines, the nuclear industry, and space are the most extensive application areas. Clearly, the railways infrastructure managers can benefit from the adaptation of best practices from these diversified designs and their broad deployment, leading to enhanced human safety and optimized asset digitalization. A case study is presented to show the potential use of mobile manipulators in railway track maintenance tasks. Moreover, the benefits of the mobile manipulator are discussed based on previous research. Finally, challenges and requirements are reviewed to provide insights into future research.

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Section: Maintenance In High-voltage Transmission Line and Substationmentioning

confidence: 99%

A Review on the Prospects of Mobile Manipulators for Smart Maintenance of Railway Track

et al. 2023

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“…In November 2008, field tests were performed for the first time outside IREQ in a deenergized Hydro-Quebec Distribution vault in Montreal. Those tests are described in [5]. After developing the first prototype and testing it at IREQ and in Montreal, the R&D team decided to modify some aspects of the robot system.…”

Section: Exploration and Task Automation (2003-2005)mentioning

confidence: 99%

R&D phases of a mobile robot prototype applied to underground distribution lines

Allan

Reiher

Lambert

et al. 2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This video summarizes the R&D phases of the first robot prototype designed to operate and maintain equipment in vaults for Hydro-Québec's underground distribution lines, carried out between 2003 and 2009. Detailed segments discuss project's context, proof of concept, simulations, description and design of robotic platform subsystems, prototype testing at IREQ in the lab and in an outdoor vault, field testing in Montreal on a Joslyn switch in a de-energized vault, and the future of the project.

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“…This kind of task specifically requires, among other specifications, a high torque capability to turn the handle. Various tasks need to be performed by the manipulator on the equipment such as to locate the Joslyn switch with a laser sensor, to unscrew/screw a valve and others; more details regarding this robot application were provided in [5]. Fig.…”

Section: Introductionmentioning

confidence: 99%

A dual-motor robot joint mechanism with epicyclic gear train

Babin

Gosselin

Allan

2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper presents the concept of a new robotic joint composed of two electric motors as inputs, an epicyclic gearing system for the transmission, and a single output. The proposed joint mechanism has a wider range of speed and torque performances comparatively to a traditional robot joint using a single motor and gearbox. The dynamic equations for the mechanical transmission system are given and a dual-motor joint mechanism is designed and prototyped to test this new concept of robotic joint. Also, the potential advantages of this joint concept for the design of manipulators for which a wide range of performances are desired are discussed. This work is motivated by the development of field robots designed for the operation and maintenance tasks in power distribution lines.

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Field tests of a robot system prototype for the underground distribution lines

Cited by 5 publications

References 3 publications

A Review on the Prospects of Mobile Manipulators for Smart Maintenance of Railway Track

A Review on the Prospects of Mobile Manipulators for Smart Maintenance of Railway Track

R&D phases of a mobile robot prototype applied to underground distribution lines

A dual-motor robot joint mechanism with epicyclic gear train

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Field tests of a robot system prototype for the underground distribution lines

Cited by 5 publications

References 3 publications

A Review on the Prospects of Mobile Manipulators for Smart Maintenance of Railway Track

A Review on the Prospects of Mobile Manipulators for Smart Maintenance of Railway Track

R&amp;D phases of a mobile robot prototype applied to underground distribution lines

A dual-motor robot joint mechanism with epicyclic gear train

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Product

Resources

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R&D phases of a mobile robot prototype applied to underground distribution lines