The climbing performance analysis of a robot for power line inspection with retractable double serial manipulators

Abstract

A power line inspection robot has to overcome many kinds of obstacles in inspection processes. The strain clamp is the obstacles difficult for inspection robots to overcome. The inspection robot needs to have a particular climbing ability to overcome the strain clamp. Therefore, the ability to climb power lines is the key point of the inspection robot’s design. An inspection robot with retractable double serial manipulators is proposed to improve the climbing and obstacle-crossing ability. Besides, this paper shows that the inspection robot is more suitable for climbing from static analysis and dynamic evaluation index. Firstly, the obstacle-crossing processes and structures of the inspection robot are introduced. Next, the static analysis is carried out when inspection robot climbs the power lines. The static analysis shows that the new inspection robot has a smaller driving torque. What’s more, the dynamic model of the inspection robot is established by Lagrange’s dynamical equations. By constructing the dynamic evaluation indexes, the inspection robot with retractable arms performs better dynamic characteristics. Finally, a prototype robot is carried out to cross obstacles and climb up power lines. The results show that the inspection robot can overcome different obstacles and has a good climbing performance.

Robust stabilization control of live working robot under wind load based on angular momentum conservation principle

“…Therefore, combined with equation ( 16) and ( 1), the maximum moment of the momentum wheel is as equation (17).…”

“…Wind load is one of the main factors affecting the operation of live working robot serving in overhead transmission lines. Generally speaking, high altitude wind load can be divided into stable wind load 16,17 and pulsating wind load, 17,18 while the actual wind load is the random superposition of the above two kinds of wind loads. Stable wind load refers to the constant velocity direction and other physical quantities acting on the wind of the robot within a certain period of time, which usually causes the displacement or deflection motion of the object.…”

Dynamic performance analysis based on the mechatronic system of power transmission line inspection robot with dual-arm

“…28 For the control system, the servo motor as the actuator of the robot is closely related to the dynamic performance, 29 and the research of the sever motor models mostly concentrates on taking load inertia as a disturbance. 30 However, considering the PTLIRs have a more serious change of load inertia during obstacle avoidance, 31 this kind of traditional model is not suitable for the performance analysis of PTLIRs.…”

Design of nonlinear control system for motion trajectory of industrial handling robot

“…Lagrangian dynamical equations are well established in this regard and have good applicability for the dynamic characteristics of robots. 2 In addition, a cascaded neural network with genetic algorithm re-optimization is further introduced in this study with the aim of providing new ideas for the control of robots with high accuracy requirements in working scenarios such as handling robots. 3 The study makes corresponding work on the dynamics model of industrial handling robots.…”

“…At this stage of robot control research, optimal scheduling of paths facing obstacles also relies on dynamical models by performing static analysis. Lagrangian dynamical equations are well established in this regard and have good applicability for the dynamic characteristics of robots 2 . In addition, a cascaded neural network with genetic algorithm re‐optimization is further introduced in this study with the aim of providing new ideas for the control of robots with high accuracy requirements in working scenarios such as handling robots 3 .…”