This paper presents a mobile robot suspended on power transmission lines based on a novel movement mechanism with two manipulators and a body. After the inspection robot configuration is described, the kinematics of the inspection robot and the process of obstacle-navigation are analyzed in details. In order to achieve autonomously control the task-oriented integrated control architecture is adopted, and the architecture is a multi-agent system coordinate and organized by distribute blackboard. To achieve auto obstacle-navigation control, camera-in-hand system is adopted to realize power transmission line pose locating. With the power line locating algorithm, a dynamic position based look-and-move control structure is implemented to achieve line-grasping control. Experiments result shows that the robot can realize auto obstacle-navigation control and proves the valid of the control method.

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Gough and Ptewart, parallel manipulators have been found in many industrial applications. In the past two decades, a number of interesting mechanical devices and design methods have been extensively studied. However; most eff 岛 or 此 ts a 叮 r巳 dedicated tωo six degrees of fi 企 re 臼 edom IS-D There 巳 is a need for equipment providing more than 3 DOF'、 s arranged in paral1el and based on sim 卫 lp 抖 ler a 缸 rran 吨 ger 宽 m 口1巳 ent 岱 s t 也 han 8-DOF arrangements in application. This paper presents a novel 4-DOF parallel platfo红卫 manipulator with base mounted prismatic actuators. 丁he movable platfo红卫 of the manipulator can translate along two directions and rotate around two 缸es respectively FlT-2 0). The kinematics model is formulated, which d巳scribes the inverse and forward kinematics transformation. The singularity analysis of this new 2T帽2 0 ， 4-DOF paral1el manipulator is introduced.

-This paper details a novel plane laser welding machine system which combines two large-scale steel blanks superposed together. Several methods are developed in order to solve the technical problems existing in plane laser welding system: It presents major-minor pressing sets which can control the deformation and eliminate the gap effectively; the design of the 4-axis machine which makes the X axis moving in small range and U axis moving in long range in the same direction can improve the precise and dynamic performance of the system. The experimental results show that this new system has potential for future industry application.Index Terms -Multi-axis, plane laser welding, error modeling, multi-body, finite element analysis