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

Wang, Wei; Yucheng, Bai; Wu, Guojun; Li, Shuixia; Qian, Chen

doi:10.5772/56767

Cited by 8 publications

(6 citation statements)

References 19 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…This robot can crawl and move through the transmission line and detect obstacles using camera and inspect using other kind of sensors. A mobile robot [20][21][22][23][24][25][26][27][28][29][30][31][32][33][34][35][36] is an obstacle avoidance robot developed by Robotics laboratory of Chinese Academy of Sciences (CAS) and Wuhan University for crossing tower junction and obstacles. This mobile robot consists of a body with two arms namely forearm and rear-arm for traversing and obstacles avoidance.…”

Section: Existing Power-line Inspection Robotsmentioning

confidence: 99%

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

2019

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

Section: Existing Power-line Inspection Robotsmentioning

confidence: 99%

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

2019

View full text Add to dashboard Cite

show abstract

“…En la creación de articulaciones en el software de virtualización se debe tomar en cuenta que, los objetos estáticos no pueden ser directamente actuados a través de articulaciones controladas por par/fuerza, si no que su posición y orientación dependerá de la posición y orientación de otros objetos [13], por lo cual es necesario la creación de objetos estáticos y dinámicos y posteriormente vincularlos.…”

Section: Recomendacionesunclassified

Design and simulation of a mobile robot, for the inspection of electrical lines

Eibar¹,

Gavilane²,

Pérez³

et al. 2018

KEG

View full text Add to dashboard Cite

Abstract. A mobile robot was designed and simulated for the inspection of electrical lines, which seeks to investigate alternatives that have the main necessary characteristics to perform these inspection tasks and implement them in a robot of accessible costs. In the robot design was modeled its mechanical parts in 3D and then previously taken to a virtual simulation software (Vrep), in which the sequence of movements were programmed, to pass obstacles.

show abstract

“…Compared to other types of mobile robots, such as wheeled and legged robots, the snake-like robots characterized by their redundant morphology, low center of gravity, and diversity of locomotion patterns are beneficial to avoid falling down, getting stuck, and even getting damaged in severe conditions. The last few decades have witnessed various applications of snake-like robots in complex environments, from surveillance, 1 search and rescue, 2 surgery 3 to inspection of transmission lines 4 and pipelines. 5,6 The versatile locomotion patterns of snake-like robots play a key role in traversal of different types of environments.…”

Section: Introductionmentioning

confidence: 99%

Development of a vision-based target exploration system for snake-like robots in structured environments

Waldum

Grindvik

et al. 2020

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

Applying snake-like robots to environmental exploration has been a hot topic for years. How to achieve free navigation for target search in a complex environment in a safe and efficient manner is one of the main tasks that researchers in the field of robotics currently face. This article presents a target exploration system that takes advantages of visual sensing to navigate the snake-like robot in structured environments. Two cameras are utilized in the system. The first one is mounted on the head of the snake-like robot for target recognition and the other is an overhead camera which is responsible for locating the robot and identifying surrounding obstacles. All dead ends in the environment can thus be recognized using a template-based method. A search strategy for traversal of the dead ends is employed for generating exploration paths. Several gaits are developed for the snake-like robot. By switching between these gaits, the snake-like robot is able to follow the paths to search for the target. Two experiments are conducted in a maze environment. The experimental results validate the effectiveness of the proposed system for snake-like robots exploring in structured environments.

show abstract

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

Cited by 8 publications

References 19 publications

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

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

Design and simulation of a mobile robot, for the inspection of electrical lines

Development of a vision-based target exploration system for snake-like robots in structured environments

Contact Info

Product

Resources

About