Automated apparatus for live work on overhead transmission lines

Udod, E.I.; Molchanov, V.; Taloverya, V.; Ivanov, Nikolay; Dyakov, V.; Rubanenko, A.; Gela, G.

doi:10.1109/tdcllm.1998.668326

Cited by 2 publications

(3 citation statements)

References 3 publications

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“…To alleviate such human-born risks, robotic-assisted distribution line operations had been investigated globally in the past decades, where robotic manipulators were applied to replace human works in performing maintenance tasks on live-lines (Nakashima et al , 1995; Penin et al , 1998; Santamaria, 1997; Udod et al , 1998; Zarei-nia et al , 2010; Soler and Guillet, 1993; Feng and Zhang, 2021). However, the applicability of such power grid-operating robotic systems is directly constrained by the robotic manipulators used.…”

Section: Introductionmentioning

confidence: 99%

“…The hydraulically actuated robotic manipulators used in the early generation robots had limited payload-to-weight ratio, resulting in the robotic system having substantial self-weight. Therefore, they could only be mounted on heavy-duty aerial working platforms with suitable payloads, which were highly road-demanding themselves, significantly limiting their applications in populated, spatially dense areas (Nakashima et al , 1995; Penin et al , 1998; Santamaria, 1997; Udod et al , 1998). On the other hand, the level of artificial intelligence embedded in such systems was also limited, resulting in most early systems being controlled remotely by human operators on the ground via teleoperation (Penin et al , 1998; Udod et al , 1998; Soler and Guillet, 1993).…”

Section: Introductionmentioning

confidence: 99%

“…Therefore, they could only be mounted on heavy-duty aerial working platforms with suitable payloads, which were highly road-demanding themselves, significantly limiting their applications in populated, spatially dense areas (Nakashima et al , 1995; Penin et al , 1998; Santamaria, 1997; Udod et al , 1998). On the other hand, the level of artificial intelligence embedded in such systems was also limited, resulting in most early systems being controlled remotely by human operators on the ground via teleoperation (Penin et al , 1998; Udod et al , 1998; Soler and Guillet, 1993). Since 2000, a great deal of research has been carried out in target recognition, positioning and attitude estimation (Feng and Zhang, 2021; Yan et al , 2020; Zhao et al , 2022; Wu et al , 2021; Naceri et al , 2021).…”

Section: Introductionmentioning

confidence: 99%

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DARLOS: a lightweight dual-arm robotic live-line operation system for autonomous high-voltage distribution grid maintenance

Wang

2024

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Purpose This paper aims to present a novel lightweight distribution grid operating robot system with focus on lightweight and multi-functionality, aiming for autonomous and live-line maintenance operations. Design/methodology/approach A ground-up redesign of the dual-arm robotic system with 12-DoF is applied for substantial weight reduction; a dual-mode operating control framework is proposed, with vision-guided autonomous operation embedded with real-time manual teleoperation controlling both manipulators simultaneously; a quick-swap tooling system is developed to conduct multi-functional operation tasks. A prototype robotic system is constructed and validated in a series of operational experiments in an emulated environment both indoors and outdoors. Findings The overall weight of the system is successfully brought down to under 150 kg, making it suitable for the majority of vehicle-mounted aerial work platforms, and it can be flexibly and quickly deployed in population dense areas with narrow streets. The system equips with two dexterous robotic manipulators and up to six interchangeable tools, and a vision system for AI-based autonomous operations. A quick-change tooling system ensures the robot to change tools on-the-go without human intervention. Originality/value The resulting dual-arm robotic live-line operation system robotic system could be compact and lightweight enough to be deployed on a wide range of available aerial working platforms with high mobility and efficiency. The robot could both conduct routine operation tasks fully autonomously without human direct operation and be manually operated when required. The quick-swap tooling system enables lightweight and durable interchangeability of multiple end-effector tools, enabling future expansion of operating capabilities across different tasks and operating scenarios.

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