A novel series-parallel hybrid robot for climbing transmission tower

Yao, Yonggang; Wang, Wei; Qiao, Yue; He, Zhihang; Liu, Fusheng; Li, Xuelong; Liu, Xinxin; Zou, Dehua; Zhang, Tong

doi:10.1108/ir-01-2021-0011

Cited by 12 publications

(5 citation statements)

References 28 publications

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“…Instead of clamping the entire angle iron, it only clamps a single side, making its structure simpler and more efficient. Yao et al [ 66 ] designed a series-parallel hybrid transmission-tower-climbing robot composed of two parallel legs with 3-DOF delta mechanisms and a trunk linkage mechanism. The legs are equipped with electromagnets, which can be adsorbed onto the transmission tower.…”

Section: Overview Of Research On Climbing Robots Used For Vertical St...mentioning

confidence: 99%

Advances in Climbing Robots for Vertical Structures in the Past Decade: A Review

Fang

Cheng

2023

Biomimetics

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Climbing robots are designed to conduct tasks that may be dangerous for humans working at height. In addition to improving safety, they can also increase task efficiency and reduce labor costs. They are widely used for bridge inspection, high-rise building cleaning, fruit picking, high-altitude rescue, and military reconnaissance. In addition to climbing, these robots need to carry tools to complete their tasks. Hence, their design and development are more challenging than those of most other robots. This paper analyzes and compares the past decade’s design and development of climbing robots that can ascend vertical structures such as rods, cables, walls, and trees. Firstly, the main research fields and basic design requirements of climbing robots are introduced, and then the advantages and disadvantages of six key technologies are summarized, namely, conceptual design, adhesion methods, locomotion modes, safety mechanisms, control methods, and operational tools. Finally, the remaining challenges in research on climbing robots are briefly discussed and future research directions are highlighted. This paper provides a scientific reference for researchers engaged in the study of climbing robots.

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Section: Overview Of Research On Climbing Robots Used For Vertical St...mentioning

confidence: 99%

Advances in Climbing Robots for Vertical Structures in the Past Decade: A Review

Fang

Cheng

2023

Biomimetics

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“…As noted above, one can distinguish three main classes of robotic systems used in the inspection and maintenance of the electricity grid: (1) autonomous robots that are suspended from cable lines, (2) unmanned aerial vehicles and aerial manipulators carrying out inspection tasks, and (3) mobile manipulators and robotic cranes involved also in faults finding and repair in the power grid infrastructure. As far as the first class of robotic systems is concerned, that is robots suspended from cable lines, one can distinguish mainly two-arm and multiarm robots [47][48][49]. As far as the second class of robotic systems is concerned that is unmanned aerial vehicles and aerial manipulators one can distinguish mainly autonomous helicopters, tricopters, quadropters, hexacopters, and octocopters [50][51][52].…”

Section: Computation Of the Robotic System's Lagrangianmentioning

confidence: 99%

A nonlinear optimal control approach for underactuated power-line inspection robots

et al. 2021

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The article proposes a nonlinear optimal (H-infinity) control approach for a type of underactuated power-line inspection robots. To implement this control scheme, the state-space model of the power-line inspection robots undergoes first approximate linearization around a temporary operating point, through first-order Taylor series expansion and through the computation of the associated Jacobian matrices. To select the feedback gains of the controller an algebraic Riccati equation is solved at each time step of the control method. The global stability properties of the control loop are proven through Lyapunov analysis. The significance of the article’s results is outlined in the following: (i) the proposed control method is suitable for treating underactuated robotic systems and in general nonlinear dynamical systems with control inputs gain matrices which are in a nonquadratic form, (ii) by achieving stabilization of the power-line inspection robots in underactuation conditions the proposed control method ensures the reliable functioning of these robotic systems in the case of actuators’ failures or enables the complete removal of certain actuators and the reduction of the weight of these robotic systems, (iii) the proposed control method offers a solution to the nonlinear optimal control problem which is of proven global stability while also remaining computationally tractable, (iv) the proposed nonlinear optimal control method retains the advantages of linear optimal control that is fast and accurate tracking of reference setpoints under moderate variations of the control inputs, and (v) by minimizing the amount of energy that is dispersed by the actuators of the power-line inspection robots the proposed control method improves the autonomy and operational capacity of such robotic systems.

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“…To address these challenges, unmanned aerial vehicles (UAVs) have emerged as an effective method for high-altitude inspections. At present, UAVs have found extensive utilization in transmission line operation and maintenance inspection [1][2][3] . However, during the actual usage, operators are required to observe the UAV back to the ground station video while remotely controlling the UAV.…”

Section: Introductionmentioning

confidence: 99%

Interactive technology of high voltage tower acceptance UAV Based on AR and YOLOv7

Zhang,

Li,

Huang

et al. 2024

J. Phys.: Conf. Ser.

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To address many shortcomings of the current unmanned aerial vehicle (UAV) inspection mode of the transmission line high-voltage towers and improve the inspection efficiency, the UAV tower foreign matter detection technology based on Augmented Reality (AR) and You Only Look Once: Unified, Real-Time Object Detection (YOLOv7) has been developed. Firstly, the system architecture, including UAV, ground station, and AR glasses is established. Then, the AR scene is built by using the Unity engine, and the interactive control mode between AR glasses and UAV is designed. Subsequently, the mapping mode of head action and UAV command is devised to synchronize the UAV action and head action. Finally, the tower is detected for foreign objects by using YOLOv7 vision detection technology. The experimental results validate the efficacy of the built AR scene, demonstrating seamless functionality in completing the video streaming and attitude data transmission functions. The use of AR glasses can achieve interactive control of the UAV attitude. In addition, the YOLOv7 visual detection algorithm can accurately detect the attachment of foreign objects to the high-voltage tower.

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A novel series-parallel hybrid robot for climbing transmission tower

Cited by 12 publications

References 28 publications

Advances in Climbing Robots for Vertical Structures in the Past Decade: A Review

Advances in Climbing Robots for Vertical Structures in the Past Decade: A Review

A nonlinear optimal control approach for underactuated power-line inspection robots

Interactive technology of high voltage tower acceptance UAV Based on AR and YOLOv7

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