[1]YUE Xiang,WANG Hongguang,JIANG Yong,et al.Design approach for a 110 kV power transmission line inspection robot mechanism[J].CAAI Transactions on Intelligent Systems,2016,11(2):155-162.[doi:10.11992/tis.201511032]
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Design approach for a 110 kV power transmission line inspection robot mechanism

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 11 Number of periods: 2016 2 Page number: 155-162 Column: 学术论文—智能系统 Public date: 2016-04-25
Title:
Design approach for a 110 kV power transmission line inspection robot mechanism
Author(s):
YUE Xiang1; 2;  WANG Hongguang1;  JIANG Yong1;  ZHANG Yu3;  ZHANG Chengwei3;  XI Ning1
1. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
2. University of Chinese Academy of Sciences, Beijing 100049, China;
3. Guangzhou Power Supply Bureau of Guangdong Power Grid Corporation, Guangzhou 510620, China
Keywords:
transmission line; inspection; robot; mechanism design; kinematics; workspace; navigation; simulation
CLC:
TP24
DOI:
10.11992/tis.201511032
Abstract:
A novel mechanism for 110 kV power transmission line inspection robot is presented according to the requirements of inspection tasks and characteristics of obstacles on power lines. Its configuration is introduced, and the navigation process of typical obstacles is planned. Then, the kinematics equations and the workspace are established. Furthermore, the simulation of the navigation of the strain clamp and test of navigation the jumper in the laboratory have been carried out. The simulation results demonstrate that the mechanism has such characteristics as compact construction, good motion stability and excellent obstacle negotiation capability.
References:
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