Design and application of a new wheel-based cable inspection robot

Xu, Fengyu; Wang, X. S.; Cao, Pengfei

doi:10.1109/icra.2011.5979820

Cited by 20 publications

(8 citation statements)

References 12 publications

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“…Some wheel based climbing bots have been tested on cables as long as 577m with payload mass of 6.5 kg [14]. Control and telemetry for such robots are also being studied [16].…”

Section: Introductionmentioning

confidence: 99%

“…A few more unique design strategies based on specific application are seen in proposals like firefighting robot [7] four legged rapid climber [8], wheel based pruning bot [9], piston mechanism based rope climber for rescue operation [10] etc. As an application area, cable inspection and maintenance features as a prominent and active area of research [11][12][13][14][15]. Some authors prefer to use acronym CMR (Cable Maintenance Robot).…”

Section: Introductionmentioning

confidence: 99%

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Designing a modular rope climbing bot

Tandon

Patil

Dasgupta

2015

2015 Annual IEEE India Conference (INDICON)

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This paper discusses design of an autonomous rope climbing robot for identified industrial applications. Modified design goals are drawn up after analyzing the same from prior publications. A modular design with wheel based drive is conceptualized and suitable calculations are done to select drive motor, onboard power source etc. Limited laboratory based test is also carried out to establish suitability of the suggested drive mechanism. An embodiment is drawn out next for light weight modular construction satisfying the design goals. Salient design features are compared with published designs.Keywords-cable stay bridge, climbing robot, high torque motor, wheel based, cable maintenance robot.

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“…Some wheel based climbing bots have been tested on cables as long as 577m with payload mass of 6.5 kg [14]. Control and telemetry for such robots are also being studied [16].…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Designing a modular rope climbing bot

Tandon

Patil

Dasgupta

2015

2015 Annual IEEE India Conference (INDICON)

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“…Hence, the challenging issue is that the robot has to reposition itself from straight transmission line to jumper cable and then back to straight line. High voltage line inspection robots can also be used for inspecting structural and suspension cables on bridges, robotic surveillance along the cables, crop monitoring and forestry research [6].…”

Section: Introductionmentioning

confidence: 99%

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

2019

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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.

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“…Wheeled robots always use magnetic adhesion and pneumatic adhesion. This type of robot generally moves on a metal surface or concrete wall (Elliot et al , 2006; Xu et al , 2011; Leon-Rodriguez et al , 2012; Cho et al , 2013).…”

Section: Introductionmentioning

confidence: 99%

Development of climbing robot for steel bridge inspection

Wang

Kawamura

2016

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Purpose The purpose of this paper is to present a design of climbing robot with magnetic wheels which can move on the surface of steel bridge. The locomotion concept is based on adapted lightweight magnetic wheel units with relatively high attractive force and friction force. Design/methodology/approach The robot has the main advantages of being compact (352 × – 215 × – 155 mm), lightweight (2.3 kg without battery) and simple mechanical structure. It is not only able to climb vertical walls and follow circumferential paths, but also able to pass complex obstacles such as bolts, steps, convex and concave corners with almost any inclination regarding gravity. By using a servo as a compliant joint, the wheel base can be changed to enable the robot to overcome convex corners. Findings The experiment results show that the climbing robot has a good performance on locomotion, and it is successful in negotiating the complex obstacles. On the other hand, the limitations in locomotion of the robot are also presented. Originality/value Compared with the past researches, the robot shows good performance on overcoming complex obstacles such as concave corners, convex corners, bolts and steps on the steel bridge. Magnetic wheel with the characterization of compact size and lightweight is able to provide bigger adhesion force and friction coefficient.

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Design and application of a new wheel-based cable inspection robot

Cited by 20 publications

References 12 publications

Designing a modular rope climbing bot

Designing a modular rope climbing bot

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

Development of climbing robot for steel bridge inspection

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