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

Abstract

To efficiently transmit electric power to consumers, the power lines need to be inspected routinely for early fault detection. Thus, power line inspection robots are designed to replace the tedious and dangerous manual inspection using linemen or helicopters. However, most of the existing inspection robots are heavy, which make them slow and prone to external wind disturbance. This paper developed a lightweight dual-arm robot and investigates its robustness to wind disturbance on a lab-scale power line structure. The dynamic equations of the robot are derived using the Lagrangian equation for appropriate motor selection. Also, the components of the robot are designed to ensure low drag coefficient to wind flow, and the mechanism of the wind force on the robot-line coupled system is presented. To study the real-time impact of the wind, a wind speed of 4.5 m/s representing one of the windiest cities in China is considered as a case study. The experimental results for different wind directions, namely, 0°, 45°, and 90°, show that the maximum vibration is 8% higher than the normal vibration of the system in a controlled environment without wind. The results demonstrate that there is little influence of the wind on the system; hence, the robot has been successfully designed and can be applied for power line inspection.

Autonomous Behavior Intelligence Control of Self-Evolution Mobile Robot for High-Voltage Transmission Line in Complex Smart Grid

“…Using the above representation method, the robot has a total of 2 [12] possible states. Because robots face different tasks and different tasks of robots have specific processes, many postures are not allowed to appear when robots are working.…”

“…Due to the wide variety and dispersion of line maintenance operations, power grid companies will inevitably need to configure robots of different types of operations, which result in high purchase and maintenance costs. Namely, the contradiction between the robot single operation function and the diversification of the power grid maintenance operation objects in the existing research has become more and more prominent [11,12]. erefore, the study of multitask-oriented power maintenance robots and their autonomous operation behavior control so as to realize the multipurpose function of the robot mobile platform has important theoretical significance and practical value for building a resource-saving and environment-friendly integrated operation of the power transmission grid.…”

Dynamic walking characteristics and control of four-wheel mobile robot on ultra-high voltage multi-split transmission line

“…For example, robust control of underwater robots based on HN mixed sensitivity (Lu et al, 2021) and structural singular value theory (Li et al, 2014), robust control of dual-arm space robots based on backstepping method (Bouakrif and Zasadzinski, 2016), and variable structure compensation control based on sliding mode (Tang et al, 2011) robot robust control. At the same time, in the literature of power inspection robots (Alhassan et al, 2019;Khaloozadeh and Homaeinejad, 2014) a lightweight dual-arm robot has been developed and investigates its robustness to wind disturbance on a lab-scale power line structure. Based on the problem that the wind load around the overhead transmission line is more complicated than the ground wind load, a mathematical model of the shape and structure parameters of the obstacle inspection robot is established under simplified wind load conditions.…”

Maneuvering Control of Hexrotor UAV Equipped With a Cable-Driven Gripper

“…In this article, an adaptive control algorithm is designed to carry and transport payload at some particular target. Robustness in the presence of wind disturbance is an essential characteristic of aerial vehicles in many practical applications [11] and [12]. The aerial must be able to complete the task in a rough and complex environment.…”