Sensor-Arm &amp;#x2014; robotic manipulator for preventive maintenance and inspection of high-voltage transmission lines

Debenest, Paulo; Guarnieri, Michele; Takita, Kensuke; Fukushima, Edwardo F.; Hirose, Shigeo; Tamura, Kiyoshi; Kimura, A.; Kubokawa, H.; Iwama, Narumi; Shiga, F.

doi:10.1109/iros.2008.4650964

Cited by 7 publications

(5 citation statements)

References 11 publications

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“…A semiautonomous teleoperated mobile manipulator was designed to inspect the aircraft warning spheres of the overhead power transmission lines [79]. A sensor arm was designed to be a mobile manipulator that can move along the transmission line via sliding mechanism and perform inspection using a high-quality camera [80]. A robotic system was designed to inspect and repair the switch in the underground power transmission line, as shown in Figure 12a.…”

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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“…However, due to several limitations, there have been few practical implementations of manipulators attached to UAVs. Existing industrial implementations of aerial manipulators include high voltage [4] and surface contact [5] inspections, as well as specific tasks, such as bolt tightening [6] and valve turning [7]. These limitations exist due to aerial manipulators being more susceptible to disturbances since they are not fixed on stationary rigid frames.…”

Section: Introductionmentioning

confidence: 99%

The Design of a Lightweight Cable Aerial Manipulator with a CoG Compensation Mechanism for Construction Inspection Purposes

et al. 2022

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Conventionally, aerial manipulators, when used for inspection, use drone rotors to stabilize the center of gravity (CoG) shifts, which highly affects its performance. This paper discusses the development of a self-balancing lightweight cable aerial manipulator that can be used for construction inspection purposes. The design is based on a 3D-printed, three degrees of freedom (DoF), planar cable manipulator that is mounted on an extended platform below it as a counter-balance mechanism. The actuators control the manipulator links through a cable system, allowing them to be mounted at the system base to reduce the moving mass of the manipulator during operation. The counter-balance mechanism compensates for any shifts in the CoG of the system by actively sliding a counter-balance weight, mainly a battery, which powers the setup. This mechanism can be attached beneath an off-the-shelf quadrotor to solve the problem of CoG shifts. CoG shifts are due to the manipulator operation when a payload or inspection tool is attached to the end effector to perform a given task. For construction integrity inspection, the aerial manipulator must remain stable during the push or slide processes on both flat and curved surfaces while the non-destructive tests are carried out. To validate the effectiveness of the proposed design, an experimental setup was used, and comparisons were made between the compensated and uncompensated tilt angles of the aerial manipulator. Significant tilt angle reductions were observed with an average of 94.69% improvement, undergoing different manipulator motions during different operation scenarios, as a result of an active compensation of the CoG shift and lightweight design of the system, without sacrificing the functionality of the manipulator for the task.

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“…Nicolas Pouliot has also proposed a kind of line-tracking robot based on LineScout technology [11], which has two parallel arms, one for rolling and another for moving on cables [12]. Paulo Debenset has designed a kind of line-tracking robot that can climb on four-splitting leads [25].…”

Section: Introductionmentioning

confidence: 99%

The Mechanism of a Snake-Like Robot's Clamping Obstacle Navigation on High Voltage Transmission Lines

Wang

Yucheng

et al. 2013

International Journal of Advanced Robotic Systems

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In this paper, the methods of a snake-like robot climbing on high voltage transmission lines are presented. The three typical locomotion modes of a snake-like robot, that is, rectilinear locomotion with a Zshaped clamping mechanism, obstacle navigation locomotion with a head part clamping mechanism and winding obstacle navigation locomotion, are discussed. The motion mechanism of the snake-like robot's head part clamping obstacle navigation is studied and the kinematics model coupled with the robot and the line environment under this mode is introduced. The position tracking algorithm and the improved algorithm of robot's clamping obstacle navigation are also proposed. Finally, the simulation experiment verifies that the improved position tracking algorithm can improve the robot's motion performance and is feasible in the robot's clamping obstacle navigation.

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Sensor-Arm — robotic manipulator for preventive maintenance and inspection of high-voltage transmission lines

Cited by 7 publications

References 11 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

The Design of a Lightweight Cable Aerial Manipulator with a CoG Compensation Mechanism for Construction Inspection Purposes

The Mechanism of a Snake-Like Robot's Clamping Obstacle Navigation on High Voltage Transmission Lines

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