Manipulator system for constructing overhead distribution lines

Tsuchihashi, H.; Satoh, K.; Mukaida, M.

doi:10.1109/tdcllm.1993.316227

Cited by 11 publications

(4 citation statements)

References 2 publications

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“…Representative robots of this era include the Optical Fiber Composite Overhead Ground Moving Robot, shown in Figure 1(a), developed by the Tokyo Electric Power Company (Sawada et al , 1991), and the phase robot developed by the Kyushu Electric Power Company (KEPCO) of Japan. First-generation phase-I series robot was developed in the late 1980s (Yokoyama et al , 1993), and is shown in Figure 1(b). It is a dual-arm robot driven by master–slave, hydraulic and motor mixtures in an insulated bucket at high altitude.…”

Section: Status Of Research On Live Maintenance Robot For Hvtlmentioning

confidence: 99%

Live maintenance robot for high-voltage transmission lines

Jiang

Zhang

et al. 2019

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Purpose The purpose of this paper is to improve the operation and maintenance intelligence of power systems, and summarize the transmission line robots and their key technologies. High-voltage power cables are important channels for power transmission systems. Their special geographical environment and harsh natural environment can lead to many different faults. At present, such special operations in dangerous and harsh environments are performed manually, which have not only high labor intensity and low work efficiency but also great personal safety risks. Design/methodology/approach For maintenance works that are far away from the tower, power outages are required. With the increasing evaluation of transmission quality and operational safety, and the urgent need for automation and operation of modern power systems, the contradiction between this manual operation and modern high-quality power transmission has become increasingly prominent. An effective method to replace the manual maintenance work is to use the mobile robot to carry the operation manipulator and its end tool, that is, the live maintenance robot. Findings Some achievements have been made in the key technologies of live maintenance robots, the work to be done to meet the basic requirements of complex and changeable line environment and practical application. Based on the existing research results of live overhaul robot, the follow-up research will focus on the practical application needs and the frontier of scientific and technological development, and truly realize the human–machine integration between live overhaul robot–human working environment. Only in this way can the robot better serve the operation and maintenance of the power system. Originality/value This paper reviews the system platform, operation function, structural characteristics and key technologies involved in the power cable robot, and the combination of live maintenance robots and modern high-tech such as big data and cloud computing is also given, and finally, the future development direction of the special operation robot is pointed out.

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Section: Status Of Research On Live Maintenance Robot For Hvtlmentioning

confidence: 99%

Live maintenance robot for high-voltage transmission lines

Jiang

Zhang

et al. 2019

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“…Utilities around the world have also been aware of the capabilities of teleoperation for this application. Since the first telerobotic developments back in the mid-eighties by two companies [1][2] , several systems have been presented through the years [3][4][5][6][7] , while other utilities also have shown some kind of interest on the subject 8 .…”

Section: Overview Of Telerobotic Live-line Maintenance Systemsmentioning

confidence: 99%

<title>Teleoperated system for live power lines maintenance</title>

Aracil

Peñín

Ferré

et al. 1995

Telemanipulator and Telepresence Technologies II

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Outage-free maintenance of electrical power lines have been developed and used throughout the years. In these techniques workers have to work near energized components with hazard of electric shock and falls. In this context, a teleoperator system is being developed to increase the safety of the workers and the overall efficiency. It counts with two hydraulic-driven masterslave teleoperated manipulators on top of an insulated boom over a truck. The operator commands the manipulators from a cabin on the truck via a pair of master arms, and it receives visual feedback through a stereo vision system. Multimedia display, voice recognition and synthesis, stereo vision and force-feedback are some of the features being implemented in order to achieve telepresence of the operator. The paper addressed the implementation of these features on a teleoperation system prepared to work in a semi-structured hazardous environment performing repair and maintenance related tasks.

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“…The traditional method of bolt tightening relies on a manual approach, which has the disadvantages of low efficiency and high risk, as well as uncertainty of the tightening state due to factors such as the high-voltage working environment high above ground level. There have been a number of investigations of the use of live maintenance robots for work on transmission lines, such as those carried out by the Japan Kyushu Electric Power Companies (Yokoyama et al, 1993), the Quebec Research Institute in Canada (Toth et al, 2010), the Indian Vellore Institute of Technology (Singh et al, 2013) and the Shenyang Automation Institute (Song et al, 2012). Although there has been some progress in this direction, there have been very few studies specifically on bolt tightening for high-voltage transmission lines.…”

Section: Introductionmentioning

confidence: 99%

Autonomous location control of a robot manipulator for live maintenance of high-voltage transmission lines

Jiang

Fan

et al. 2017

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Purpose This paper aims to develop a robot for tightening charged bolt to solve the shortcomings of high labor intensity, low efficiency, high risk and poor reliability in artificially tightening drainage board bolt of strain clamp for high voltage transmission line. Realizing bolt-nut capture and location by manipulator is a critical process to complete the whole working task. To solve such key technology, an autonomous location control method for N-joint robot manipulator based on kinematics was proposed. Design/methodology/approach Through D-H kinematics analysis under flexible working environment of transmission line, the autonomous location control of double manipulators can be abstracted as a nonlinear approximation problem based on joint inverse kinematics. In addition, regarding the complex coupling relationship among different joint angles and the complex decoupling process which leads to the non-uniqueness of inverse solution, an improved backpropagation (BP) network was proposed based on the combination of dynamic adaptive adjustment of learning rate and variable momentum factor, so that the inverse kinematics of manipulator can be solved and the optimization evaluation mechanism of inverse solution can be presented. The proposed autonomous location control method is of adaptability to flexible environment and structural parameters of different drainage boards. The simulation results verified the effectiveness of the proposed method. Compared with the other location control, this method can achieve faster location speed, higher precision and lower hardware cost. Finally, the field operation test further validated that such autonomous location control method was of strong engineering practicability. Findings The proposed autonomous location control method is adaptable to a flexible environment and to the structural parameters of different types of drainage board. Simulation results confirm the effectiveness of the proposed method, which, in comparison with other approaches to location control, can achieve faster location, higher precision and lower hardware cost. Finally, a field test further confirms the engineering practicability of the proposed autonomous location control method. Originality/value The proposed method can achieve faster location speed, higher precision which meet the requirement of real-time control relative to the standard BP algorithm. Moreover, it is of strong adaptability to flexible environment and structural parameters for different drainage board. Field operation experiment further validated the engineering practicability of the method.

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Manipulator system for constructing overhead distribution lines

Cited by 11 publications

References 2 publications

Live maintenance robot for high-voltage transmission lines

Live maintenance robot for high-voltage transmission lines

<title>Teleoperated system for live power lines maintenance</title>

Autonomous location control of a robot manipulator for live maintenance of high-voltage transmission lines

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