Modeling, Analysis and Trajectory Planning of a 5 Degree of Freedom Robotic Arm for a Transmission Line Crossing Robot

Shruthi, C. M.; Sudheer, A. P.; Joy, M. L.

doi:10.1007/978-81-322-2740-3_50

Cited by 3 publications

(2 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Closed-form algebraic method is used for the determination of inverse kinematic solutions. Workspace analysis of the robotic arm is performed, and the link parameters are determined for reaching the jumper cable of the transmission line [31,36]. Bending, shearing and torsional effects of the dual robotic arm are considered in the static analysis.…”

Section: Modelling Of Dual Robotic Armmentioning

confidence: 99%

Optimal crossing and control of mobile dual-arm robot through tension towers by using fuzzy and Newton barrier method

Shruthi

Sudheer

Joy

2019

J Braz. Soc. Mech. Sci. Eng.

Self Cite

View full text Add to dashboard Cite

The methodology of manual high-voltage transmission-line inspection is a time-consuming process, and also it involves high risk. The safe and efficient methodology of autonomous robotic inspection is needed to avoid these kinds of problems involved in the manual inspection. One of the challenging steps in the development of power transmission-line inspection robot is the design of a mechanism for crossing tension towers through the jumper cables and also avoiding obstacles in the transmission lines with minimum consumption of energy. Positioning of the robot in the transmission line and crossing the jumper cable are also difficult. This paper tries to find a feasible solution for these challenging issues. A novel design of the robot mechanism, positioning of dual arm for intelligent crossing and trajectory planning of arm based on minimum energy are presented. Optimum goal position for holding is determined using fuzzy logic. Ten degrees of freedom dual arm of the inspection robot is used for transferring a gripper hook to the goal position in the jumper cable through an optimum cubic trajectory for transferring whole robot from straight cable to jumper cable. Optimum energy trajectory is determined using primal dual interior-point method. This paper also presents the design of proportional-integral-derivative controller with genetic algorithm tuning for crossing from straight transmission line to jumper cable. Simulation study of robot motion through straight transmission line and jumper cable is also presented using ADAMS.

show abstract

Section: Modelling Of Dual Robotic Armmentioning

confidence: 99%

Optimal crossing and control of mobile dual-arm robot through tension towers by using fuzzy and Newton barrier method

Shruthi

Sudheer

Joy

2019

J Braz. Soc. Mech. Sci. Eng.

Self Cite

View full text Add to dashboard Cite

show abstract

“…The dynamic analysis is carried out for the calculation of torques of various joints for the dual arm [47].…”

Section: Kinematic Modelling Of 10 Dof Dual Robot Armmentioning

confidence: 99%

Dual arm electrical transmission line robot: motion through straight and jumper cable

2019

Self Cite

View full text Add to dashboard Cite

Ground-based high voltage electrical line inspection is one of the difficult and highly dangerous job as far as a manual worker is concerned. The transmission line inspection by robots avoids temporary interruption of power supply that affects the end user and transmission grid. Also, robot-based inspection reduces maintenance cost and hazards. The electrical line inspection is normally carried out using binoculars and rarely by helicopters in most of the countries because of the low cost. Wire traversing or aerial robots are being used in Japan, Canada, USA and Russia for inspecting and monitoring faults in transmission lines and towers. However, most of these robots require a lot of human effort for installation due to its weight and complex design. Cost of these robots is also very high. This paper presents the mechanical design, fabrication and testing of a novel, low cost, light weight and compact power transmission line inspection robot. This work also includes kinematic, static and dynamic analysis of various subsystems of robot. Proposed robot is capable of traversing on straight transmission line and jumper cables present in tension towers. The robot has 10 DoF dual arm for crossing operation and a base system to achieve the locomotion.

show abstract

Measurement of the position and orientation of mechanical arm based on laser tracker

Chen

Guo

et al. 2019

2019 18th International Conference on Optical Communications and Networks (ICOCN)

View full text Add to dashboard Cite

Modeling, Analysis and Trajectory Planning of a 5 Degree of Freedom Robotic Arm for a Transmission Line Crossing Robot

Cited by 3 publications

References 4 publications

Optimal crossing and control of mobile dual-arm robot through tension towers by using fuzzy and Newton barrier method

Optimal crossing and control of mobile dual-arm robot through tension towers by using fuzzy and Newton barrier method

Dual arm electrical transmission line robot: motion through straight and jumper cable

Measurement of the position and orientation of mechanical arm based on laser tracker

Contact Info

Product

Resources

About