[1]SONG Yifeng,WANG Hongguang,KANG Wenjie,et al.Optimizing electric power robot design for broken-strand repair tasks[J].CAAI Transactions on Intelligent Systems,2017,12(2):150-157.[doi:10.11992/tis.201605004]
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Optimizing electric power robot design for broken-strand repair tasks
CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume:
12
Number of periods:
2017 2
Page number:
150-157
Column:
学术论文—智能系统
Public date:
2017-05-05
- Title:
- Optimizing electric power robot design for broken-strand repair tasks
- Keywords:
- robot applications; mechanism design; robot development; robot system; power line; maintenance; grid; robot control
- CLC:
- TP24
- DOI:
- 10.11992/tis.201605004
- Abstract:
- Power transmission line maintenance robots that focus on repairing broken strands are required to complete complex maintenance tasks in the field. Designing the appropriate mechanisms based on the features of the given maintenance tasks can enhance operational performance and ensure operational quality. In this paper, we present various mechanisms that align broken-strand repair tasks with power transmission line maintenance robots. More specifically, our design focuses on the objectives of walking, negotiating obstacles, and sorting wires, all in conjunction with handling outer environment constraints and the mechanisms of movement, crossing obstacles, and performing repairs. We designed an optimized driving wheel to serve as the mechanism of movement to increase the adhesive force and lessen the inherent track slippage. We also designed passive rotary joints as the mechanism for crossing obstacles to ensure safety. Finally, we designed a spiral resetting-type sorting tool to serve as the broken-strand repair mechanism in eliminating reclinate broken strands. Given these designs, through theoretical analysis, comparative simulations, and experiments, we analyzed the feasibility, stability, and reasonability of our robot design for walking, crossing obstacles, and repairing broken strands.
- References:
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[4] MONTAMBAULT S, POULIOT N. The HQ LineROVer: contributing to innovation in transmission line maintenance[C]//Proceedings of 2003 IEEE 10th International Conference on Transmission and Distribution Construction, Operation and Live-Line Maintenance. Orlando, FL, USA: IEEE, 2003, 33-40.
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[7] 宋屹峰, 王洪光, 李贞辉, 等. 基于视觉方法的输电线断股检测与机器人行为规划[J]. 机器人, 2015(2): 204-211, 223. SONG Yifeng, WANG Hongguang, LI Zhenhui, et al. Vision based transmission line broken strand detection and robot behaviour planning[J]. Robot, 2015(2): 204-211, 223.
[8] WANG Hongguang, SONG Yifeng, LING Lie. Task-oriented mechanical design of the AApe power line robots[C]//Proceedings of the 2014 IEEE International Conference on Applied Robotics for the Power Industry. Piscataway, NJ, USA: IEEE, 2014: 1-6.
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1900-01-01