Dynamic Network Topology Control of Branch-Trimming Robot for Transmission Lines

Wang, Man; Wu, Guojun; Fan, Feidi; Ji, Qiaoling; He, Wenshan; Cao, Qi

doi:10.3390/electronics8050549

Cited by 6 publications

(6 citation statements)

References 28 publications

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“…The dynamics solver solves the robot and PTL subsystems, respectively, by the contact estimator, which fully considers the pressure and friction between the robot and PTL. [16][17][18] The robot made by the Special Robot Research Institute of Wuhan University [19][20][21] is modeled by screw theory, [22][23][24] while the PTL including LGJ-400/35 four-split conductor is modeled using absolute node coordinate formulation (ANCF). [25][26][27] The coupling dynamical equation (1) can systematically cover the influence of the interaction between the robot and PTL…”

Section: Dynamic Environment With Rigid-flexible Couplingmentioning

confidence: 99%

Kinodynamic planning with reachability prediction for PTL maintenance robot

Zheng

2021

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article presents a novel method—Dynamic Environment Rapid Search Tree—for power transmission line maintenance robot, which is based on the learned field function of reachability and the genetic best-first policy. Dynamic Environment Rapid Search Tree uses a priori information to optimize the node selection strategy in the rigid–flexible coupling environment with slight perturbation and generates the joint path in the configuration space. While the search tree rapidly extends toward the goal configuration, it effectively avoids the obstacles and greatly reduces the expansion of the irrelevant region. Finally, the joint trajectory considering the dynamic constraints and cost function is given, which provides the reference positions and torques for the robot controller. Traditional planning algorithms are compared with our proposed method under two different operation modes, and the planner is demonstrated on the robot under real settings. The experiment results verify the feasibility and adaptiveness of the proposed algorithm and planner, even in slightly and continuously varying environment.

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Section: Dynamic Environment With Rigid-flexible Couplingmentioning

confidence: 99%

Kinodynamic planning with reachability prediction for PTL maintenance robot

Zheng

2021

Proceedings of the Institution of Mechanical Engineers, Part I:

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“…Additionally, Wuhan University has developed a HVTL tree-trimming robot, the robot consists of a mobile platform and an operation system, the mobile platform travels along the transmission line, and the operation system can carry a super-long insulated arm, which can carry out tree trimming while walking online. However, the robot can cross only a certain type dampers and with a complex robot up-down line process; additionally, the tree-trimming mechanism needs to be further studied 23,24 in the future.…”

Section: Research Status Of Inspection Maintenance Robot For Transmission Linesmentioning

confidence: 99%

Mechanism Configuration and Innovation Control System Design for Power Cable Line Mobile Maintenance Robot

Jiang

Zou

et al. 2020

Robotica

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SUMMARY High-voltage power cables are important channels for power transmission systems. Their special geographical environment and harsh natural environment can lead to many different faults. At present, such special operations in dangerous and harsh environments are performed manually, which not only has high labor intensity and low work efficiency but also has great personal safety risks. In order to solve such difficult problems, this paper studies the power maintenance robot for insulator string replacement, spacer replacement, damper and drainage plate maintenance; the basic configuration and the operation motion planning have been proposed; and the virtual prototype of the inspection maintenance robots has been developed, and then the mechanical structure of the robots has been optimized by the robot kinematics modeling and analyzed the working space based on the Monte Carlo method. The system platform, operation function, structural characteristics and related key technologies involved in the robot system development were systematically summarized; the deep integration point for the robot technology with big data, cloud computing, artificial intelligence, and ubiquitous power Internet-of-Things technologies was also discussed. Finally, the physical prototype of the insulator replacement, drainage plate tightening, and damper replacement operation robot has been developed; several experimental tests on a 220 V live line have been conducted so as to verify the robot engineering practicality; and the main development and future research direction have also been pointed out at last.

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“…Regular tightening of the bolts on drainage plate is an important task for maintaining power transmission line (PTL). Therefore, the Robotics Institute of Wuhan University 1–3 developed an experimental prototype of a PTL maintenance robot. Instead of manually performing the task, by controlling all the joint movements of the robot, it is possible to walk along PTL cable, locate and tighten the bolts on drainage plate of transmission line, as shown in Figure 1.…”

Section: Introductionmentioning

confidence: 99%

Rigid–flexible coupling dynamics with contact estimator for robot/PTL system

Zheng

Jiang

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part K:

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In order to enhance sampling efficiency and security when robot maintains power transmission line (PTL), this article develops a new approach for the rigid-flexible coupling dynamics of robot/PTL system, which decouples the large system into two small systems and solves them separately by estimating the contact force. The robot is modelled as a system of rigid bodies by screw theory, while the PTL system is modelled using absolute node coordinate formulation (ANCF). The integration of screw theory, ANCF and contact estimator trained by artificial neural network has not been accomplished before in the literature. The main contribution of this paper is to achieve this integration with the goal of developing a new and general approach for the nonlinear dynamic analysis of the interaction of the rigid maintenance robot with flexible PTL cable. A simplified two-dimensional example is used to compute the effect of the robot/PTL interaction under different operating conditions to have an understanding of the coupling approach between the two systems. A more detailed three-dimensional model was developed, and the results obtained validate the utility and effectiveness of our approach.

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Dynamic Network Topology Control of Branch-Trimming Robot for Transmission Lines

Cited by 6 publications

References 28 publications

Kinodynamic planning with reachability prediction for PTL maintenance robot

Kinodynamic planning with reachability prediction for PTL maintenance robot

Mechanism Configuration and Innovation Control System Design for Power Cable Line Mobile Maintenance Robot

Rigid–flexible coupling dynamics with contact estimator for robot/PTL system

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