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

Abstract

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.

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

“…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).…”

Precise Motion Control of a Power Line Inspection Robot Using Hybrid Time Delay and State Feedback Control

“…They analyzed its performance using the adaptive gain-scheduled backstepping control ( Dian et al, 2019 ) and the Fuzzy Gain Scheduling PID Controller ( Zhao et al, 2020 ). Wei et al (2021) presented the stability analysis of a dual-arm inspection robot moving along a catenary power line. The study established that for a stable inspection of a flexible power line, the walking posture of the robot should be changeable in relation to the slope of the line.…”