Pole type robot for distribution power line inspection

Finotto, V. C.; Horikawa, Oswaldo; Hirakawa, André Riyuiti; Filho, A. C.

doi:10.1109/carpi.2012.6473360

Cited by 10 publications

(3 citation statements)

References 6 publications

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“…In step-2, ARC-2 has two more energy consumption joints (h 121, h 141 ) than ARC-1, because the same reasons as in step-1, step-3, step-4, ARC-3 has one more energy consumption joint(h 23 ) than ARC-1, because the yew motion shaft of the joint(h 23 ) is not vertical. In every step, the energy consumption of ARC-1 is minimum because the driving torque of the proposed unit based on parallelogram structure has no relationship with the load moment equally applying on the unit, and is only determined by the load gravity applying on the unit, the driving torque of the ARC-2, ARC-3 conventional joint is determined by both the equivalent load moment and load gravity, as shown in (3)(4)(5).…”

Section: Obstacle-crossing Energy Consumption Contrasting Of the Inspection Robots Separately With Proposed And Conventional Unitsmentioning

confidence: 99%

“…1 The overhead power transmission line endures various unavoidable severe weather, such as high wind, high temperature, rain, frost, snow, haze, et al To ensure the normal operation, the line grids should be inspected and maintained regularly. 2 The conventional inspection methods are foot patrol with a telescope from the ground and helicopter-assisted, [3][4][5] which are tedious, slow, and inefficient. The real-time images of the line can not be provided clearly.…”

Section: Introductionmentioning

confidence: 99%

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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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Section: Obstacle-crossing Energy Consumption Contrasting Of the Inspection Robots Separately With Proposed And Conventional Unitsmentioning

confidence: 99%

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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show abstract

“…Ground line inspector: The worker is equipped with optical equipment for the electrical transmission line inspection on foot. This approach is slow and there is a limitation on the inspector's viewing angle [6].…”

mentioning

confidence: 99%

Design of an Over-Actuated Hexacopter Tilt-Rotor for Landing and Coupling in Power Transmission Lines

Lopes

Honório

Santos

et al. 2023

Drones

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It is known that new power transmission line inspection techniques have been developed over the last few years with great potential to improve and, in some cases, even replace traditional inspection procedures such as using helicopters and cars. A series of Unmanned Aerial Vehicles (UAVs) such as fixed-wing or rotary-wing UAVs, and vehicles that climb on the power transmission line, promise to revolutionize the inspection market. In this light, at least 39 new research studies and/or products have been conducted and/or introduced to the market, respectively. However, in an incipient way, some works point to the fusion of some technologies: the development of multi-rotor UAVs and the ability to connect and move over the power transmission line. In line with this, the current work was proposed, with significant unprecedented advances (such as an over-actuated control capacity with tilt rotors, the capability of a displacement in the angle, and the maintenance of active motors on the power transmission line), and the design, modeling, and control of an over-actuated UAV able to move over the conductor cable without the need for a new locomotion system is presented. The aircraft allows for a greater response and the indispensable ability to approximate landing in a power transmission line arbitrary position rather than the catenary lowest point (due to its ability to forward/backward move using the tilting rotors). Its design is detailed, its subsystems are described, and its normal and coupled flight mode dynamics are modeled. The results show good stability and reliable maneuvers for the coupling-to-power-transmission-line flight mode, without any overshoots, and the ability to follow the entire catenary through different Real Control Action (RCA) sets.

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