[1]FANG Li-jin,WANG Hong-guang.Research on the characteristics of the movement and obstacleclearing processes of a wiresuspended mobile robot[J].CAAI Transactions on Intelligent Systems,2010,5(6):492-497.
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Research on the characteristics of the movement and obstacleclearing processes of a wiresuspended mobile robot

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 5 Number of periods: 2010 6 Page number: 492-497 Column: 学术论文—机器感知与模式识别 Public date: 2010-12-25
Title:
Research on the characteristics of the movement and obstacleclearing processes of a wiresuspended mobile robot
Author(s):
FANG Li-jin1;  WANG Hong-guang2
1.School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110004, China;
2 Shenyang Institute of Automation, Chinese Academy of Sciences， Shenyang 110016, China
Keywords:
wiresuspended mobile robot;  overhead lines;  centroid adjustment
CLC:
TP24
DOI:
-
Abstract:
In order to meet inspection and maintenance requirements based on power transmission lines, the robot’s moving environment and the obstacleclearing processes were analyzed. The robot design characteristics and the centroidadjustment influence were given. A new robot structure with two arms, four wheels, and a passive adaptive arm design was presented. Moreover, a centroidadjustment method and a new passiveactive hybrid motion control method were also presented. Finally, the method was used in the robot inspection system and verified through experiments in artificial environments and actual transmission lines. The results show that the method is feasible and very effective for improving the performance of robot contro1〖KG-*1/3〗.
References:
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