Optimal crossing and control of mobile dual-arm robot through tension towers by using fuzzy and Newton barrier method

Abstract

The methodology of manual high-voltage transmission-line inspection is a time-consuming process, and also it involves high risk. The safe and efficient methodology of autonomous robotic inspection is needed to avoid these kinds of problems involved in the manual inspection. One of the challenging steps in the development of power transmission-line inspection robot is the design of a mechanism for crossing tension towers through the jumper cables and also avoiding obstacles in the transmission lines with minimum consumption of energy. Positioning of the robot in the transmission line and crossing the jumper cable are also difficult. This paper tries to find a feasible solution for these challenging issues. A novel design of the robot mechanism, positioning of dual arm for intelligent crossing and trajectory planning of arm based on minimum energy are presented. Optimum goal position for holding is determined using fuzzy logic. Ten degrees of freedom dual arm of the inspection robot is used for transferring a gripper hook to the goal position in the jumper cable through an optimum cubic trajectory for transferring whole robot from straight cable to jumper cable. Optimum energy trajectory is determined using primal dual interior-point method. This paper also presents the design of proportional-integral-derivative controller with genetic algorithm tuning for crossing from straight transmission line to jumper cable. Simulation study of robot motion through straight transmission line and jumper cable is also presented using ADAMS.

Path and Trajectory Planning for an Automated Carrier Vehicle Equipped with two Conveyor Belts used in Manufacturing Supply

“…Trajectory planning should also be regarded by a single-drive robot in which an electric motor drives the vehicle through a mechanism [38]. The Fuzzy and Newton-barrier method was used to plan a two-arm mobile robot trajectory developed for the study of a high-voltage transmission line [39].…”

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

“…The Korea Electric Power Research Institute 9 has developed an insulator detection robot for the 345 kV AC transmission line, the basic configuration of a bolt tightening robot has been developed by India Welol University of Technology, 11 the bolt tightening can be carried out through the double mobile arms, the working manipulator and the fixed arms have been designed as a whole, wherein one arm fixes the hexagonal bolt and the other completes the tightening operation by rotating the sleeve motor. Additionally, American Electric Power Research Association, 12 Spain, 13 Ukrainian Electric Power Research Institute and Wenicha Polytechnic University 14 have also developed robots for transmission lines live maintenance operations.…”

System Optimization and Robustness Stability Control for GIS Inspection Robot in Complex Microgrid Networks

“…ere are a large number of GIS (gas-insulated switchgear) types of equipment [1][2][3][4] built in the power system substation networks, GIS is a metal-enclosed equipment, and once there is an internal fault, the gas chamber needs to be opened for searching and processing, which not only is very inconvenient but also leads to poor safety and economy. In most cases, GIS equipment maintenance cannot directly dismantle the faulty spot.…”

“…e biggest feature of the Rise series [12] robot is that its sole has a special microhair structure adsorption mechanism; through virtue of this mechanism, Rise can realize vertical movement without external force, which greatly reduces the overall power consumption of the robot, and as the structure is very complicated, it crawls very slowly. e third category is Magnebike wall-climbing robot developed by the Federal Institute of Technology Zurich, Switzerland, with a total weight of 3.3 kg and a volume of 170 × 130 × 220 mm 3 , with a maximum walking speed of 2.7 m/min and a magnetic adsorption force of 250 N, which is mainly used in pipe inspection and other scenarios; the research has important reference value for GIS equipment maintenance operations. Domestically, the first research on wall-climbing robots in China was in Harbin University of Technology, which successfully developed a wall-climbing robot [13,14] called CLR-I in 1994, CLR-I's adsorption method is negative pressure adsorption, with all-directional mobility, and it is able to walk flexibly on the wall surface, but CLR-I uses wired and console connection mode, which is extremely inconvenient to control and operate.…”