Design of a Novel Dual-arm Inspection Robot with Flexible Cable

Fang, Lijin; Yong-le, Wei; Gao, Tao

doi:10.3724/sp.j.1218.2013.00319

Cited by 7 publications

(4 citation statements)

References 7 publications

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“…The balanced walking-clamp mechanism can clamp the line by the clamping wheel mounted on the clamping-jaw lower end or clamp the tension insulator set and iron tower by the hook of the clamping-jaw top end. Using this mechanism, the dual-arms inspection robot with flexible-cable designed by the author can walk along the line and cross the obstacles of the line (Fang et al , 2013; Wei et al , 2021).…”

Section: Working Principles Of the Balanced Walking-clamp Mechanismmentioning

confidence: 99%

A balanced walking-clamp mechanism for inspection robot of transmission line

Cai-xia

Xin

Yong-le

et al. 2023

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Purpose This paper aims to design a walking-clamp mechanism for the inspection robot of transmission line. The focus for this design is on climbing ability and obstacle-crossing ability with a goal to create a novel walking-clamp mechanism that can clamp not only the line but also the obstacle. Design/methodology/approach A novel clamping jaw used in the walking-clamp mechanism is proposed. The clamping wheel is mounted on the lower end of clamping jaw to reduce the friction between the clamping jaw and the line, and the top end of clamping jaw is designed as a hook structure to clamp the obstacle. The working principle and force states of the walking-clamp mechanism clamping the line and obstacle are analyzed, and the simulation and prototype experiments are carried out. Findings The experimental results show that this mechanism can clamp the obstacle steadily, and the clamping forces of the front and back pairs of clamping jaws are almost equal during robot walking along the catenary-shaped line. It is in agreement with the theoretical analysis, and it demonstrates that this mechanism can meet the working requirements of inspection robot. Practical implications This novel mechanism can be used for inspection robot of transmission line, and it is beneficial for robot to complete long-distance inspection works. Social implications It stands to reduce costs related to inspection and improve the inspection efficiency. Originality/value Innovative features include its structure, working principle and force states.

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Section: Working Principles Of the Balanced Walking-clamp Mechanismmentioning

confidence: 99%

A balanced walking-clamp mechanism for inspection robot of transmission line

Cai-xia

Xin

Yong-le

et al. 2023

Self Cite

View full text Add to dashboard Cite

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“…According to the working environment of the robot, the dual-arm inspection robot with flexible-cable was proposed in [18] and the obstacle-crossing process of the robot was introduced in detail, but its walking process was not researched. e arm of the robot adapts a humanoid structure, and each arm has four degrees of freedom.…”

Section: Structure Of the Robotmentioning

confidence: 99%

“…H. Korayem et al built a cable robot and researched the control approach of the robot [16,17]. Based on their research results, applying the cable to the inspection robot maybe solves the above problems, and a dual-arm inspection robot with flexible-cable was presented by WEI Yongle et al [18,19]. e research goal is to develop a robot with the strong ability of obstacle-crossing, almost equal forces of two walking-wheels, and simpler posture control [20,21].…”

Section: Introductionmentioning

confidence: 99%

Walking Characteristics of Dual-Arm Inspection Robot with Flexible-Cable

Yong-le

Zhang

Fang

2021

Journal of Robotics

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The overhead transmission line has a catenary shape, which has great influence on the dynamic characteristics of an inspection robot walking along the line and may even cause the walking-wheel to fall from the line. Compared with other similar inspection robots, the unique structure of the dual-arm inspection robot with flexible-cable is introduced. Taking the dual-arm inspection robot with flexible-cable walking along the uphill section of the line as an example, the force states of the robot when it works at acceleration, uniform speed, deceleration, and stopping were studied in detail. The corresponding force balance equations were established, and the walking-wheel torques in each working state were solved. The working states of the robot walking along the catenary shape line were simulated using ADAMS software. Simulation results show that the walking process of the robot is stable, the walking-wheels have good contact with the line, and the forces of two walking-wheels are almost balanced, which enables the robot to have good adaptability and climbing ability for the line. The prototype test that the robot walked along the line was carried out. The results of the simulation and prototype test are consistent with the theoretical analysis, so the rationality of robot structure design is verified. In the future, the navigation control and stability of the robot walking along the line will be researched, so that the robot can complete the patrol task in the real environment.

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“…Other research institutions have proposed some dual-arm prototypes without the hip joint, which are mainly composed of two arms and a counterweight adjusting mechanism. [10][11][12][13][14] When coming across an obstacle, the robot moves its counterweight and the center of gravity is adjusted to one arm. The other arm lifts up or moves to the lower side of the line, the arm on the line rotates or moves forward, the off-line arm crosses the obstacle.…”

Section: Introductionmentioning

confidence: 99%

A novel unit mechanism for serial head-tail alternatively supported robot

Gao

Liu

2020

Proceedings of the Institution of Mechanical Engineers, Part C:

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Multi-unit serial mobile robot designed for obstacle avoidance, inspection or rescue task, should ideally be able to switch the head and tail as supporting stand to move forward wriggly, be lightweight and low energy consumption, aiming at adapting to complex application environment. This paper proposes a novel robot pitching unit based on a parallelogram mechanism, and a robot with the proposed units taking the task of power transmission line inspection as application background. To reduce unit motor number and weight, a single motor and cable driving(SMCD) method is proposed. The unit architecture and robot prototype are designed. The kinematic model is developed and the supporting stand switch process is presented. According to the force analysis of the unit mechanisms, the driving motor energy consumption calculating methods of the proposed unit and the conventional serial unit are presented respectively. The low energy consumption characteristic of the proposed unit is demonstrated through applications respectively on a 4-unit serial immobile robot model and an inspection robot model for power transmission line. Experiments of unit supporting stand switch and robot prototype crossing obstacles are conducted to verify the unit feasibility. The results of analysis and experiments show that comparing with the conventional units, the whole energy consumption of the robot can be reduced clearly by applying the proposed units, the novel unit is capable of switching the supporting stand, based on which the inspection robot meets the application requirements on overhead power transmission line.

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Design of a Novel Dual-arm Inspection Robot with Flexible Cable

Cited by 7 publications

References 7 publications

A balanced walking-clamp mechanism for inspection robot of transmission line

A balanced walking-clamp mechanism for inspection robot of transmission line

Walking Characteristics of Dual-Arm Inspection Robot with Flexible-Cable

A novel unit mechanism for serial head-tail alternatively supported robot

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