Insulating safety analysis of the hot-line sweeping robot

Che, L. X.; Yang, Renxin; Gu, Youlin; Xia, T. K.

doi:10.1007/s00170-005-0195-6

Cited by 8 publications

(5 citation statements)

References 3 publications

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“…Live maintenance robot is a special electric power operation robot; it walks along a high-voltage transmission line to replace or assist artificial power maintenance, plays a very important role in the power industry, and has very broad application prospects. [1][2][3] Drainage board bolt tightening and insulator strings replacement are important aspects of live maintenance operations; [4][5][6] the traditional operation method always relies on a manual approach completely, and it has the disadvantages of low efficiency, high risk, as well as uncertainty of the operation state. The most typical representative electric power robot is LineScout developed by Canada Institute of Hydroelectricity in Quebec, and it has a dual function of power line inspection and maintenance.…”

Section: Introductionmentioning

confidence: 99%

Structure singular value theory based robust motion control of live maintenance robot with reconfigurable terminal function for high voltage transmission line

Jiang

Fan

et al. 2018

International Journal of Advanced Robotic Systems

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In a complex rigid-flexible coupling environment of overhead high-voltage transmission line, the manipulator robust trajectory tracking motion control of live maintenance robot is the premise of fulfilling the entire maintenance operations. In the process of manipulator's different function reconfigurable (drainage board bolt tightening and insulator strings replacement), in response to the shortage of excessive pursuit of robust stability for robot manipulator when using H 1 control, as it ignores the influence of structure changes caused by terminal reconfigurable on the system stability to a certain extent, the structured singular value theory-based robot robust synthesis control method was proposed in this article. The intrinsic relationship between structured singular value control (method) and H 1 control was elaborated, a general control model of the multi-arms and multi-actions robot system was established, the multifunction terminal reconfigurable live maintenance robot with its two kinds of operations was set as a research object, and the corresponding robot controller was designed. In the MATLAB development environment, simulation results have shown that on the premise of maintaining the robust stability, compared to the H 1 control method, control can obtain better performance robustness for the perturbation of its own structural changes in the process of different operation functions switch. Finally, the validity and engineering practicability of this method is verified by actual 220 kV live operation experiments.

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Section: Introductionmentioning

confidence: 99%

Structure singular value theory based robust motion control of live maintenance robot with reconfigurable terminal function for high voltage transmission line

Jiang

Fan

et al. 2018

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

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“…According to the theoretical derivation of the connection rod parameters and joint variables, the equation expression of the position and attitude matrix i−1 T i of the connection rod i coordinate system in the connection rod i−1 coordinate system can be obtained as equation (1).…”

Section: Robot Kinematics-dynamics Analysis and Operation Motion Planmentioning

confidence: 99%

“…High-voltage transmission lines have an important impact on the development and stability operation of the power industry, which need regular maintenance so as to ensure the stability of overhead high-voltage transmission lines. Che et al and Aracil et al [1,2] give the structure of the multisplit transmission lines and through the data from grid companies indicate that the multisplit transmission lines are the main channel to undertake the power transmission; the most typical representative of this kind line is the double-split conductor. Singh et al and Park et al [3,4] give the structure and characteristic of the single-split transmission lines.…”

Section: Introductionmentioning

confidence: 99%

Operation Motion Planning and Principle Prototype Design of Four-Wheel-Driven Mobile Robot for High-Voltage Double-Split Transmission Lines

Jiang

et al. 2020

Mathematical Problems in Engineering

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In response to the problems of high labor intensity, high risk, and poor reliability of artificial live working, a four-wheel-driven spacer bar replacement mobile operation robot has been designed and developed in this paper, and the corresponding kinematic and dynamics model have been established, based on the established double models, the kinematics and dynamics numerical analysis can be realized through INVENTOR and ADAMS, respectively, based on the established kinematics and dynamics models . The results show that the simulation value of the robot joint displacement, velocity, acceleration, and joint force can be able to meet the requirements of kinematic and dynamic constraints during the robot operation. The robot prototype can meet the requirement of dual-split robot working space and the operation joint force control, which not only extend the robot adaptability to the multisplit lines heterogeneous operation environment but also provide an important theoretical technical support for the exploit of the robot physical prototype. Through the robot kinematics and dynamics analysis, the robot mechanical structure parameters and electrical control parameters have been effectively optimized. The weight and cost of the robot have been reduced by 12% and 15% compared to the existed studies. Finally, the robot principle prototype mobile platform has been developed, and the correctness of robot kinematics and dynamics simulation analysis has been verified through the robot principle prototype mobile platform.

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“…The transmission line energized operation robot can directly replace the equipotential personnel to carry out line-energized maintenance work, which fundamentally eliminates the safety hazards that exist under the high-intensity work of equipotential personnel [1] . Therefore, the study of transmission lines with power operation robots is a means to solve the problem of ultra-high voltage and multi-tower with power operation in the power grid, which is the inevitable trend of future development of power operation and meets the requirement of serving national energy strategy.…”

Section: Introductionmentioning

confidence: 99%

Research on High-order Sliding Mode Control Strategy for High Voltage Transmission Line Strip Operation Robot

Guo

Zhang

et al. 2023

J. Phys.: Conf. Ser.

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When performing robotic electrical work, the mechanical arm will come into contact with wires, bolts, and gold tools. In order to prevent the robot from being shocked or vibrating excessively during this process, as well as to accurately control the screwing bolt angle issue, the robot force control issue should be taken into account. Based on the theory of higher order sliding mode control for such non-linear systems, a differential observer-based higher order sliding mode control method is proposed in this study. In order to build a type of controller based on the differential observer, the differential observer is used to observe the information of the derivative of the angular velocity and the information of the derivative order sliding variables of the higher-order sliding mode. The outcomes demonstrate the control method’s applicability to powered robots, as well as its ability to successfully suppress the jitter issue associated with conventional sliding mode control and achieve good control performance.

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Insulating safety analysis of the hot-line sweeping robot

Cited by 8 publications

References 3 publications

Structure singular value theory based robust motion control of live maintenance robot with reconfigurable terminal function for high voltage transmission line

Structure singular value theory based robust motion control of live maintenance robot with reconfigurable terminal function for high voltage transmission line

Operation Motion Planning and Principle Prototype Design of Four-Wheel-Driven Mobile Robot for High-Voltage Double-Split Transmission Lines

Research on High-order Sliding Mode Control Strategy for High Voltage Transmission Line Strip Operation Robot

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